Allow cancelling the FollowJointTrajectoryAction during execution #29
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| @@ -125,10 +130,17 @@ def executeTrajectory(self, traj): | |||
| last = [ self.device.joints[joint].position for joint in self.joints ] | |||
| for point in traj.points: | |||
| while rospy.Time.now() + rospy.Duration(0.01) < start: | |||
| if self.server.is_preempt_requested(): | |||
| return 0 | |||
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indentation on these two lines look off -- are you using tabs?
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This is definitely the way to do this based on the specification of the action. There are some issue with formatting that need to be addressed. |
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Thanks for your review, I fixed the formatting issue with the last two commits. |
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👍 Works fine |
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This small update checks if the action client has requested a cancellation/preempt. In that case the current trajectory following procedure is aborted.
In my opinion, this behaviour agrees with the concept of the actionlib state machine (http://wiki.ros.org/actionlib/DetailedDescription).