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I to got this error when I didn't use the function .set_preempted() in .is_preempt_requested() function. I can see that your code have no function during preempt is requested(i.e., goal is cancelled) and I hope this might be the error. my error got resolved, when I used .set_preemted() function in server code whenever preemted. and it resolved my error. hope this helps you. Thanks.