Cancel finishing request in order to start a dispatched task

[Odin-byte]

Is there already a implemented method to cancel for example a finishing task request (lets say parking) when the robot recieves a non finishing task request?

It currently bothers me that my robots wait to execute the next "real" task until they finished parking.

I just wanted to make sure I do not overlook an already implemented way of achieving this before implementing it myself.

Thanks for reading and hopefully you can point me in the right direction!

[mxgrey]

What you're describing was a problem in the past, but the latest main branch should have the behavior that you're asking for, added by this PR. If you're using ROS Humble then you'll need to compile the main branch from source, but it should be fully compatible.

Feel free to update us if the current main branch doesn't fix the problem.

[Odin-byte]

Thanks for your fast reply. I will try it out and give you feedback if the current branch works under humble!

[Odin-byte]

I switched to the needed main branches and it works as expected!