From 65fb3ed85f22400d84a1d2899dfcb807c1dbb37e Mon Sep 17 00:00:00 2001
From: Rein Appeldoorn <reinzor@gmail.com>
Date: Mon, 4 May 2020 12:44:03 +0200
Subject: [PATCH] feat(SimpleActionServer): add setAborted method

---
 src/actionlib/SimpleActionServer.js | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js
index c1ea179f4..6ce70a870 100644
--- a/src/actionlib/SimpleActionServer.js
+++ b/src/actionlib/SimpleActionServer.js
@@ -171,6 +171,27 @@ SimpleActionServer.prototype.setSucceeded = function(result2) {
     }
 };
 
+/**
+*  Set action state to aborted and return to client
+*/
+
+SimpleActionServer.prototype.setAborted = function(result2) {
+    var resultMessage = new Message({
+        status : {goal_id : this.currentGoal.goal_id, status : 4},
+        result : result2
+    });
+    this.resultPublisher.publish(resultMessage);
+
+    this.statusMessage.status_list = [];
+    if(this.nextGoal) {
+        this.currentGoal = this.nextGoal;
+        this.nextGoal = null;
+        this.emit('goal', this.currentGoal.goal);
+    } else {
+        this.currentGoal = null;
+    }
+};
+
 /**
 *  Function to send feedback
 */