From 183b3420be3d1f01b5961ca48907037a10728e6f Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Wed, 13 Dec 2023 17:31:57 -0500
Subject: [PATCH] Send a cancellation message when action is canceled

---
 .../rosbridge_library/capabilities/advertise_action.py    | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
index e94ae83fb..915320425 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
@@ -112,6 +112,14 @@ def cancel_callback(self, cancel_request: ServerGoalHandle) -> CancelResponse:
             if cancel_request.goal_id == goal_handle.goal_id:
                 self.protocol.log("warning", f"Canceling action {goal_id}")
                 self.goal_futures[goal_id].cancel()
+
+                self.protocol.log("warning", f"SENDING CANCELLATION MESSAGE TO {goal_id}")
+                cancel_message = {
+                    "op": "cancel_action_goal",
+                    "id": goal_id,
+                    "action": self.action_name,
+                }
+                self.protocol.send(cancel_message)
         return CancelResponse.ACCEPT
 
     def handle_feedback(self, goal_id: str, feedback: Any) -> None: