Cancel action from client handle
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- Dominant language
- C++
- Stars
- 805
- Forks
- 564
- Avg merge
- 1d 17h
- Merged PRs (30d)
- 27
Description
Feature request
Feature description
rclcpp_action::Client has a method async_cancel_goal() accepting a ClientGoalHandle. It is sometimes inconvenient to pass both a client and a client goal handle to code that may want to cancel the goal. This is a feature request to add ClientGoalHandle::async_cancel() so the goal handle is all that is needed to cancel the goal.
Implementation considerations
The client goal handle would need a reference to the rcl_action_client_t in order to cancel the goal.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with rclcpp_action/include/rclcpp_action/client.hpp and trace Client::async_cancel_goal() and ClientGoalHandle. Determine how the goal handle can retain the required rcl_action_client_t reference, then add the handle-level cancellation API and verify it preserves the existing cancellation behavior.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- api, robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100