[ros2action] Calling cancel even after successful execution

[Karsten1987]

Bug report

Required Info:

• Operating System:
  • OSX
• Installation type:
  • source
• Version or commit hash:
  • latest master

Steps to reproduce issue

ros2 action send_goal --feedback <action name> <action type> "<data>"

Expected behavior

Goal finished with status: SUCCEEDED

Actual behavior

Goal finished with status: SUCCEEDED
Canceling goal...
Failed to cancel goal

Additional information

My believe is I see Failed to cancel goal because my implementation of the action server does not handle a cancel request atm.

Feature request

When goal is successfully reached, don't call cancel.

[jacobperron]

I'm unable to reproduce this. If you could post a SSCCE for the action server that would be helpful.

[Karsten1987]

hmm, maybe an OSX thing?

 ➭ ros2 run examples_rclcpp_minimal_action_server action_server_not_composable
[INFO] [server]: Got goal request with order 10
[INFO] [server]: Executing goal
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Publish Feedback
[INFO] [server]: Goal Suceeded

 ➭ ros2 action send_goal --feedback /fibonacci example_interfaces/Fibonacci "{order: 10}"
Waiting for an action server to become available...
Sending goal:
     order: 10

Goal accepted with ID: 06c856ccc5ba4c16b18f8bf432d68f23

Feedback:
    sequence: [0, 1, 1]

Feedback:
    sequence: [0, 1, 1, 2]

Feedback:
    sequence: [0, 1, 1, 2, 3]

Feedback:
    sequence: [0, 1, 1, 2, 3, 5]

Feedback:
    sequence: [0, 1, 1, 2, 3, 5, 8]

Feedback:
    sequence: [0, 1, 1, 2, 3, 5, 8, 13]

Feedback:
    sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21]

Feedback:
    sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21, 34]

Feedback:
    sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55]

Result:
    sequence: [0, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55]

Goal finished with status: SUCCEEDED
Canceling goal...
Failed to cancel goal

[jubeira]

I could reproduce this with:

• Ubuntu 18.04
• Version 0.7.0 from debians (Dashing pre-release)
• fastrtps and connext; not with opensplice.

It doesn't happen always (I'd say ~20% of the times). Same output as @Karsten1987 described.

[Karsten1987]

@jacobperron: This is still happening for me at every command I issue.