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Your node execution is blocked by wait = client.wait_for_result() which waits for one of actionlib states to be returned. One way to solve your problem is to cancel the current navigation goal. Here is an example how to do this. This will cancel the current goal and then you can send a new one. You can either cancel it "manually" as in the suggested answer or just write your own logic based on which you can publish to the same topic to cancel the goal.