Stop reasoning when a goal is cancelled

meta-control · Mar 3, 2021 · cb8be7a · cb8be7a
1 parent 7a1dbaf
commit cb8be7a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/mros2_reasoner/mros2_reasoner/ros_reasoner.py b/mros2_reasoner/mros2_reasoner/ros_reasoner.py
@@ -114,7 +114,8 @@ def set_initial_fd(self, initial_fd):
 
     def objective_cancel_goal_callback(self, cancel_request):
         self.get_logger().info("Cancel Action Callback!")
-
+        # Stop reasoning
+        self.hasObjective = False
         if (cancel_request.qos_expected is None):
             # Checks if there are previously defined objectives.
             for old_objective in self.reasoner.search_objectives():