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This action server implements a goal policy in which only one goal is active and new goals preempt previous goals, ie. it always executes the latest received goal.
In this context, "Cancels the currently active goal" means canceling the trajectory that was being executed prior to the goal that woke up the goalCB callback. Note that the currently active goal is not the goal that that woke up the goalCB callback.
Since what remains of the currently active goal won't be executed, it makes sense to cancel it, providing clients with feedback that allows them to take proper action, if needed.
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