Cancelling a MoveAlongSpline action request

[eratner]

Hello,

I have been using the MoveAlongSpline action via ROS to have our robot's EE move along a desired trajectory, and it works nicely. However, when I try to stop the robot mid-trajectory by calling the SimpleActionClient's cancelGoal method, nothing happens and the trajectory continues to execute. Is this expected behavior? And if so, is it possible to stop the trajectory execution some other way?

Thank you,
Ellis

[exo-core]

Hi Ellis,

that behavior is indeed not intended. Guess I just never ran into an occasion where I had to stop the robot mid-trajectory. The spline trajectory is executed as P2P motion directly on the KUKA controller, which means it takes the entire path front up and then executes it, so that stopping might be a little tricky. Guess one would have to a) cancel the current command, b) trigger a new motion with the robot's current pose as an endpoint or c) both...

Not sure whether @SalvoVirga is still active in the development of iiwa_stack, but I guess a pull request would be quite welcome nevertheless.

Cheers,

Arne