Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• ROS2 Version:
  • Rolling
• Version or commit hash:
  • recent
• DDS implementation:
  • Cyclone

Steps to reproduce issue

I was testing the MPPIC controller and for some reason at a certain point during the navigation the controller failed with the logs:

[controller_server-4] [ERROR] [1673626999.321900985] [controller_server]: Action server failed while executing action callback: "Resulting plan has 0 poses in it."
[controller_server-4] [WARN] [1673626999.321987554] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[bt_navigator-7] [ERROR] [1673626999.356187680] [bt_navigator]: Goal failed
[bt_navigator-7] [WARN] [1673626999.356250669] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle

but the issue was that, the robot didn't stop moving when it reached this state. It was continuing with the last velocity command. I had stop the process, due to safety reason.

In general when the controller server aborts, it should publishZeroVelocity right?

Expected behavior

when the controller server aborts, it should publishZeroVelocity

Actual behavior

It is not publishing zero velocity during abort