Send a cancellation message when action is canceled

RobotWebTools · Dec 13, 2023 · 7c13032 · 7c13032
1 parent cc7bd99
commit 7c13032
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
@@ -112,6 +112,12 @@ 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()
+                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: