How to preempt action by the client in ros2 using c++?
I am trying to do:
auto goal_handle = this->goal_handle_future.get();
auto cancel_result_future = this->client_ptr_->async_cancel_goal(goal_handle); //this line show how to cancel the action
Is there any possibility to cancel at some point according to some feedback received at feedback_callback?
I found another reference here, but it is a different scenario using not_composable: