Bug report

Required Info:

• Operating System:
  • Docker 22.04 Ubuntu
• ROS2 Version:
  • rolling
• Version or commit hash:
  • latest 1d9d3c6
• DDS implementation:
  • rmw_cyclonedds_cpp

Steps to reproduce issue

Set default behavior tree default_nav_to_pose_bt_xml as navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml in param file.
Use Simple Commander API and request any goal using:

-> goToPose(pose1, behavior_tree=’../my_navigate_to_pose_w_replanning_and_recovery.xml‘)
Here behavior_tree can be any tree (even same as default used by Nav2 but using file)

-> Then cancel the above navigation using cancelTask() API call.

-> Next use goToPose(pose2) or use Rviz2 to request different goal using default bt tree.

Expected behavior

Navigate to new goal(pose2) according to default behaviour tree.

Actual behavior

Nav2 navigates to cancelled goal(pose1) instead of new requested goal.
Gif is shown below as example.

Additional information

In this video I am using follow_point.xml as 2nd behavior (bug can be reproduced with any behavior), and then using nav2 API to cancel it.
Then rviz2 for another goal request.

I fell like this should have been solved by this PR. But maybe changing bt xml leads to some unforeseen circumstances.