Cancel rospy action with Ctrl+C

edit

Hi to everyone, i'm using a class in which some methods call actions as SimpleActionClient. I create a node in the same executable i create the class instance and leave if the signal handling. When i press ctrl+c , the executable stops but the action is completed anyway. The code is:

self.__move_base_action = actionlib.SimpleActionClient('/sweepee/move_base', MoveBaseAction)
.....
try:
        while True:
            self.__move_base_action.wait_for_server()
            goal = MoveBaseGoal()
            goal.target_pose.header.frame_id = "map_sweepee"
            print("moving to : ",pos_in[0], pos_in[1], pos_in[2], pos_in[3])
            goal.target_pose.header.stamp = rospy.Time.now()
            goal.target_pose.pose.position.x = pos_in[0]
            goal.target_pose.pose.position.y = pos_in[1]
            goal.target_pose.pose.orientation.z = pos_in[2]
            goal.target_pose.pose.orientation.w = pos_in[3]

            self.__move_base_action.send_goal(goal)
            wait = self.__move_base_action.wait_for_result()
            if not wait:
                self.__move_base_action.cancel_all_goals()
                rospy.logerr("Action server interrupted!")
                return False
            else:
                return self.__move_base_action.get_result()
    except KeyboardInterrupt:
        self.__move_base_action.cancel_all_goals()
        return False

The code actually executes the line: self.__move_base_action.cancel_all_goals() but the action is not stopping. Any idea on why? Thanks