From cb8be7a6a58b17f52b2a3c4450379200dbb3b403 Mon Sep 17 00:00:00 2001
From: Mario Garzon <marioney@gmail.com>
Date: Wed, 3 Mar 2021 12:20:58 +0100
Subject: [PATCH] Stop reasoning when a goal is cancelled

---
 mros2_reasoner/mros2_reasoner/ros_reasoner.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/mros2_reasoner/mros2_reasoner/ros_reasoner.py b/mros2_reasoner/mros2_reasoner/ros_reasoner.py
index 4319b63..bf3f8c3 100644
--- 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():