Revision history [back]

As you wish https://github.com/ros-planning/navigation2/blob/main/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp#L280-L289

  auto future_cancel = action_client_->async_cancel_goal(goal_handle_);
  if (callback_group_executor_.spin_until_future_complete(future_cancel, server_timeout_) !=
    rclcpp::FutureReturnCode::SUCCESS)
  {
    RCLCPP_ERROR(
      node_->get_logger(),
      "Failed to cancel action server for %s", action_name_.c_str());
  }
}

As you wish https://github.com/ros-planning/navigation2/blob/main/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp#L280-L289https://github.com/ros-planning/navigation2/blob/643bb0f4912494389be580763784203ec60aeb39/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp#L281-L287

  auto future_cancel = action_client_->async_cancel_goal(goal_handle_);
  if (callback_group_executor_.spin_until_future_complete(future_cancel, server_timeout_) !=
    rclcpp::FutureReturnCode::SUCCESS)
  {
    RCLCPP_ERROR(
      node_->get_logger(),
      "Failed to cancel action server for %s", action_name_.c_str());
  }
}

As you wish https://github.com/ros-planning/navigation2/blob/643bb0f4912494389be580763784203ec60aeb39/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp#L281-L287https://github.com/ros-planning/navigation2/blob/643bb0f4912494389be580763784203ec60aeb39/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp#L280-L287

  auto future_cancel = action_client_->async_cancel_goal(goal_handle_);
  if (callback_group_executor_.spin_until_future_complete(future_cancel, server_timeout_) !=
    rclcpp::FutureReturnCode::SUCCESS)
  {
    RCLCPP_ERROR(
      node_->get_logger(),
      "Failed to cancel action server for %s", action_name_.c_str());
  }
}