参考：http://wiki.ros.org/actionlib/DetailedDescription    

  • setAccepted - After inspecting a goal, decide to start processing it

  • setAccepted - 检查目标后，决定开始处理

  • setRejected - After inspecting a goal, decide to never process it because it is an invalid request (out of bounds, resources not available, invalid, etc)

  • setRejected - 检查目标后，决定不要处理它，因为它是一个无效的请求（超出界限，资源不可用，无效等）

  • setSucceeded - Notify that goal has been successfully processed

  • setSucceeded - 通知该目标已成功处理

  • setAborted - Notify that goal encountered an error during processsing, and had to be aborted

  • setAborted - 通知目标在处理过程中遇到错误，并且必须中止

  • setCanceled - Notify that goal is no longer being processed, due to a cancel request

  • setCanceled - 由于取消请求，通知该目标不再被处理

  The action client can also asynchronously trigger state transitions:   动作客户端也可以异步触发状态转换：  

  • CancelRequest: The client notifies the action server that it wants the server to stop processing the goal.

  • CancelRequest：客户端通知操作服务器它希望服务器停止处理目标。

  Intermediate States 中间状态  

  • Pending - The goal has yet to be processed by the action server

  • 待处理 - 目标尚未由操作服务器处理

  • Active - The goal is currently being processed by the action server

  • 活动 - 目标正在由操作服务器处理

  • Recalling - The goal has not been processed and a cancel request has been received from the action client, but the action server has not confirmed the goal is canceled

  • 回想 - 目标没有被处理，并且已经从操作客户端收到取消请求，但是操作服务器尚未确认目标被取消

  • Preempting - The goal is being processed, and a cancel request has been received from the action client, but the action server has not confirmed the goal is canceled

  • 抢占 - 正在处理目标，并从行动客户端收到取消请求，但是行动服务器尚未确认目标已取消

  Terminal States 最终状态  

  • Rejected - The goal was rejected by the action server without being processed and without a request from the action client to cancel

  • 被拒绝 - 目标被操作服务器拒绝，而不被处理，没有来自操作客户端的请求取消

  • Succeeded - The goal was achieved successfully by the action server

  • 成功 - 动作服务器成功实现了目标

  • Aborted - The goal was terminated by the action server without an external request from the action client to cancel

  • 中止 - 目标被操作服务器终止，没有来自操作客户端的外部请求取消

  • Recalled - The goal was canceled by either another goal, or a cancel request, before the action server began processing the goal

  • 回想起来 - 在行动服务器开始处理目标之前，目标被另一个目标或取消请求取消

  • Preempted - Processing of the goal was canceled by either another goal, or a cancel request sent to the action server

  • 抢占 - 目标的处理被另一个目标或发送到操作服务器的取消请求取消