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execute_task_solution_capability: check for canceling request before canceling the goal handle (#321)
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@ -119,7 +119,7 @@ void ExecuteTaskSolutionCapability::goalCallback(
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if (result->error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
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goal_handle->succeed(result);
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else if (result->error_code.val == moveit_msgs::msg::MoveItErrorCodes::PREEMPTED)
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else if (result->error_code.val == moveit_msgs::msg::MoveItErrorCodes::PREEMPTED && goal_handle->is_canceling())
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goal_handle->canceled(result);
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else
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goal_handle->abort(result);
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