The ServerGoalHandle::execute() API doc states:

inline void execute()
- Indicate that the server is starting to execute a goal.
- Only call this if the goal is pending.

What is meant with this? Does this mean that if you accept a goal and return GoalResponse::ACCEPT_AND_EXECUTE then you should not call ServerGoalHandle::execute() (as per the action server tutorial), but if you accept the goal with GoalResponse::ACCEPT_AND_DEFER then you should call ServerGoalHandle::execute() when the action execution is eventually started?

Thanks