stop.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('rfnserver')
import rospy
from rfnserver import RFNServer

class StopServer:
    def __init__(self):
        self.server = RFNServer("stop_topic", self.stop_function)
        self.server.register_with_frame("stopping")
        self.server.start()

    def stop_function(self, filled_semantic_frame):
        # Preempts last goal, waits, then does nothing more.
        rospy.sleep(0.5)
        self.server.set_succeeded()



def main():
    rospy.init_node('stop_node')
    server = StopServer()
    rospy.spin()

if __name__ == '__main__':
    main()