try to clear goal in simple action server with moveit

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Hi, I try to use vrep simulation to do my project. When I reset the simulate world, I have to reset the ros controllers like rosrun controller_manager controller_manager stop/start arm_controller. Here is my problem. After I resetting my world and ros controllers, I get a warning from moveit which is

[ WARN] [1542792909.303253280, 18.750000000]: Fail: RECALLED: This goal was canceled because another goal was recieved by the simple action server

Thus, the moveit can't be used. Is there anything API in moveit which reset the simple action server?