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Stop any run, also one started elsewhere - #20
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Stop stopped only a run of this editor, by cancelling its goal. A run started elsewhere, e.g. from StepIt UI, is now stopped by cancelling every goal of the server, through the cancel_goal service of the action, as StepIt UI's Stop does: every BehaviorTree.ROS2 server has it. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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The Execution tab's Stop used to stop only a run started from this editor. It now stops any run.
cancel_goalservice with an empty request, which cancels every goal. That's how StepIt UI's Stop works, and every BehaviorTree.ROS2 server has the service, as every ROS 2 action server does. The service name comes from the action set under Connection.Tests: 148 pass, 2 of them new. They cover the request sent, the answer awaited, a refusal, a timeout and an unreachable rosbridge.
Checked on the rig, with fake motors: a move started from the command line showed Stop in the editor, labelled "Ask the server to stop this run, though it was started elsewhere". Pressed, the commander logged the cancel and halted the tree, and the editor showed "Stopped", with the running node "Halted".
Docs: README and
docs/ARCHITECTURE.md.🤖 Generated with Claude Code