Update exception documentation for goal cancellation in ServerGoalHandle (backport #3019) #3024
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…dle (#3019) * Update exception documentation for goal cancellation The documentation for the canceled function is misleading. Previously, the description said: 1. "Only call this if the goal is canceling." and 2. "\throws rclcpp::exceptions::RCLError If the goal is in any state besides executing." This is a contradiction. Experimentally verified that if the goal is executing and this method is called, an error is thrown. This makes the second statement wrong => correct the statement in the documentation. Signed-off-by: Andrei Costinescu <[email protected]> (cherry picked from commit 6397047)
ahcorde
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Jan 20, 2026
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Pulls: #3024
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The documentation for the canceled function is misleading. Previously, the description said:
This is a contradiction according to the state diagram in the Goal States section of this document: https://design.ros2.org/articles/actions.html
Experimentally verified that if the goal is executing and this method is called, an error is thrown. This makes the second statement wrong => correct the statement in the documentation.
Description
Fixes # (issue)
Is this user-facing behavior change?
Did you use Generative AI?
No
Additional Information
Should I open PRs for the other distributions (humble, jazzy, kilted, etc) where this documentation change has to be made?☺️
This is an automatic backport of pull request #3019 done by Mergify.