[tibi_dabo_hri_node]

  - adding vector to manage all sequence action clients. Currently only using leds.
  - fisrt implementation of cancelCurrentGoals

[hrengagement_node]
  - uppdating ACTION_CLIENTS

[iri_action_server]
  - adding shutdown() and isStarted() to public API

include/iri_action_server/iri_action_server.h

@@ -185,6 +185,14 @@ class IriActionServer
     */
     ros::Rate loop_rate_;
 
+   /**
+    * \brief Is Started
+    *
+    * This variable is set to true when start() is called and to false when
+    * calling shutdown().
+    */
+    bool is_started;
+
   public:
    /**
     * \brief Constructor
@@ -213,6 +221,20 @@ class IriActionServer
     */
     void start(void);
 
+   /**
+    * \brief Server has been started?
+    *
+    * This function returns true if start() has been previously called.
+    */
+    bool isStarted(void) const;
+   
+   /**
+    * \brief Stop Action
+    *
+    * Calls the ROS simple action server to shutdown the current action
+    */
+    void shutdown(void);
+
    /**
     * \brief Abort Action
     *
@@ -299,7 +321,8 @@ template <class ActionSpec>
 IriActionServer<ActionSpec>::IriActionServer(ros::NodeHandle & nh, const std::string & aname) :
   action_name_(aname),
   as_(nh, action_name_, boost::bind(&IriActionServer<ActionSpec>::executeCallback, this, _1), false),
-  loop_rate_(10)
+  loop_rate_(10),
+  is_started(false)
 {
   ROS_DEBUG("IriActionServer::Constructor");
 }
@@ -335,11 +358,25 @@ void IriActionServer<ActionSpec>::start(void)
   {
     // launch action server
     as_.start();
+    is_started = true;
   }
   else
     ROS_FATAL("Some Callbacks have not been registered yet!");
 }
 
+template <class ActionSpec>
+bool IriActionServer<ActionSpec>::isStarted(void) const
+{
+  return is_started;
+}
+
+template <class ActionSpec>
+void IriActionServer<ActionSpec>::shutdown(void)
+{
+  as_.shutdown();
+  is_started = false;
+}
+
 template <class ActionSpec>
 void IriActionServer<ActionSpec>::setAborted(const Result& result, const std::string& text)
 {