how to abort current navigation in Nav2

Just like the title says. How do I abort the current navigation after sending a Goal Pose? Is there an action or service I can use?

Asked by guidout on 2023-06-13 20:13:11 UTC

Use the action client + goal handle you sent the navigation request with to cancel it https://docs.ros2.org/latest/api/rclcpp_action/classrclcpp__action_1_1Client.html

This is discussed in the action tutorials.

Asked by stevemacenski on 2023-06-19 14:16:26 UTC