ROS actionlib库里面取消目标操作（cancelGoal）的方法

client里面，在30%进度的时候，调用cancelGoal()取消操作：

#include <actionlib/client/simple_action_client.h>
#include <hello_world/DoDishesAction.h>

typedef actionlib::SimpleActionClient<hello_world::DoDishesAction> Client;

static Client *client_ptr;

static void feedback_callback(const hello_world::DoDishesFeedbackConstPtr &feedback)
{
	printf("%s: percent_complete=%f\n", __FUNCTION__, feedback->percent_complete);
	if ((int)feedback->percent_complete == 30)
		client_ptr->cancelGoal();
}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "do_dishes_client");
	
	Client client("do_dishes", true);
	client_ptr = &client;
	client.waitForServer();
	
	hello_world::DoDishesGoal goal;
	goal.dishwasher_id = 12345678;
	client.sendGoal(goal, Client::SimpleDoneCallback(), Client::SimpleActiveCallback(), feedback_callback);
	
	bool succeeded = client.waitForResult(ros::Duration(20.0));
	if (succeeded)
	{
		hello_world::DoDishesResultConstPtr result = client.getResult();
		printf("Yay! %u dishes are now clean.\n", result->total_dishes_cleaned);
	}
	else
		printf("timeout!!!!\n");
		
	printf("Current State: %s\n", client.getState().toString().c_str());
	return 0;
}

client取消后，server这边必须要响应才行，不然取消不了。
client调用cancelGoal()时，server端这边isPreemptRequested()会变为true，这个时候setPreempted()确认一下，函数直接退出就可以了。
取消的时候，server这边顺便可以把结果（result）带上去：洗了4444个碗。正常情况下如果没取消就是9999个碗。
因为取消之后，我们setPreempted了，那么任务结果就已经有了，client那边waitForResult就会立即返回，返回值是true，表示任务执行成功了，获取到的result会是4444个碗。

#include <actionlib/server/simple_action_server.h>
#include <hello_world/DoDishesAction.h>

typedef actionlib::SimpleActionServer<hello_world::DoDishesAction> Server;

static void execute(const hello_world::DoDishesGoalConstPtr &goal, Server *as)
{
	int i;
	hello_world::DoDishesFeedback feedback;
	hello_world::DoDishesResult result;
	
	printf("dishwasher_id=%u\n", goal->dishwasher_id);
	
	for (i = 1; i <= 10; i++)
	{
		if (as->isPreemptRequested())
		{
			printf("cancelled!\n");
			result.total_dishes_cleaned = 4444;
			as->setPreempted(result);
			return;
		}
		printf("step %d\n", i);
		feedback.percent_complete = i * 10;
		as->publishFeedback(feedback);
		sleep(1);
	}
	
	printf("ok\n");
	result.total_dishes_cleaned = 9999;
	as->setSucceeded(result);
}

int main(int argc, char** argv)
{
	ros::init(argc, argv, "do_dishes_server");
	ros::NodeHandle n;
	Server server(n, "do_dishes", boost::bind(execute, _1, &server), false);
	server.start();
	ros::spin();
	return 0;
}