How to send "cancel the current command" to hrpsys via ROS

[130s]

I'm not aware if there's a way to cancel the currently-ongoing command.

Is clear the one?
If so, is there a way to call this via ros-bridge (so that the client program doesn't need to import hrpsys_config)?

Related task start-jsk/rtmros_hironx#301 by @DaikiMaekawa

[k-okada]

clear will not behave as you expected, It will show some of the motion, but it will not stop immediately , see https://code.google.com/p/hrpsys-base/issues/detail?id=7

please remember all of IDL service is transfer to the ROS service, so you can find /opt/ros/hydro/share/hrpsys_ros_bridge/srv/OpenHRP_SequencePlayerService_clear.srv.

So if you'd like to stop the robot immediately, easiest thing is send current posture (joint angle vector) to the robot with time=0.1 or something, so it will override current sequencer and will stop the motion.
fkanehiro/hrpsys-base#215

if this works, we'll put that code into
https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/src/HrpsysJointTrajectoryBridge.cpp#L475
so that if you cancel the joint trajectory action, it will stop the motion.

[130s]

I assume this is implemented in the upstream fkanehiro/hrpsys-base#665