/// <summary>
/// Cancel all goals that were stamped at and before the specified time. All goals stamped at or before `time` will be canceled
/// </summary>
public void CancelGoalsAtAndBeforeTime(Time time)
{
var cancelMessage = new GoalID();
cancelMessage.stamp = time;
CancelPublisher.publish(cancelMessage);
}
public void Shutdown()
{
statusSubscriber.shutdown();
feedbackSubscriber.shutdown();
resultSubscriber.shutdown();
GoalPublisher.shutdown();
CancelPublisher.shutdown();
nodeHandle.shutdown();
}
public void Shutdown()
{
ROS.RosShuttingDown -= ROS_RosShuttingDown;
statusSubscriber.Dispose();
feedbackSubscriber.Dispose();
resultSubscriber.Dispose();
GoalPublisher.Dispose();
CancelPublisher.Dispose();
nodeHandle.Dispose();
}
