Canceling an action synchronously
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@fujitatomoya is already working on this.
Since Mar 21, 2024.
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Description
Feature request
Feature description
Currently, an action server's handle_cancel can only return ACCEPT and move the state to CANCELING. If the server has no cleanup to wait for, it still has to cancel the goal asynchronously, which is inconvenient.
This could be improved by adding a new return value, ACCEPT_AND_CANCEL, that would have similar behavior to returning ACCEPT_AND_EXECUTE from handle_goal.
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