Bug report

Required Info:

• Operating System:
  • Docker 20.04 Ubuntu
• ROS2 Version:
  • rolling
• Version or commit hash:
  • latest 104bdc5
• DDS implementation:
  • rmw_cyclonedds_cpp

Steps to reproduce issue

Use SMAC lattice planner and RPP
Send a goal which is easily (quickly) calculable by SMAC lattice
Cancel the above goal
Send a goal which is difficult to calculate (takes time)

Expected behavior

Local planner (controller) waits until new path is calculated.

Actual behavior

Controller navigates on old path which is already canceled.

Additional information