Abort DriveDistance Movement

[tobias-kausch]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

No response

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

5.4

Which RMW is your robot running?

FastRTPS

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

No response

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

None

What is the Adapter Board's USB/BLE Toggle currently switched to?

USB

Describe your question.

Hello!
I am trying to give the robot a DriveDistance action goal to drive a specific distance. However, I want to be able to cancel the robot's movement mid drive. For example, I tell it to drive 4 meters but then I decide I want to stop moving at a certain point, to avoid an obstacle for example. How can I do this? Is there any example code of this?

Here is the code I have:

controller.txt

Does anyone have any suggestions?

[alsora]

ROS 2 actions can be cancelled from the client while they are running.
Please refer to the ROS 2 tutorials for this https://github.com/ros2/examples/blob/rolling/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_cancel.py