cancel navigation goal from pyton

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After i send the action request other service callback function is not being called.

#!/usr/bin/env python3
import rospy
from tts_ros.srv import TTS
from cognition.srv import Mission, Perception, PerceptionResponse, MissionResponse

import actionlib
from actionlib_msgs.msg import *
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal

from tts_ros.srv import *
import math
from threading import Thread, Lock
from geometry_msgs.msg import PoseArray, Pose
from sensor_msgs.msg import Image
import rosservice


# take second element for sort
def sortByDist(elem):
    return elem[1]

def speak_text_client(text):
    service_list = rosservice.get_service_list()
    if 'tts_service' in service_list:
        rospy.wait_for_service('tts_service')
        try:
            speak_text = rospy.ServiceProxy('tts_service', TTS)
            resp = speak_text(text)
            return resp.result
        except rospy.ServiceException as e:
            print("Service call failed: %s"%e)
    else:
        print('tts_service is not available!')

def move_base_client(pose):
    client = actionlib.SimpleActionClient('/move_base', MoveBaseAction)
    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = "map"
    goal.target_pose.header.stamp = rospy.Time.now() 
    rospy.loginfo('Waiting for move base action server!')
    client.wait_for_server()
    # Creates a goal to send to the action server.
    goal.target_pose.pose = pose

    rospy.loginfo('Sending move base goal!')
    # Sends the goal to the action server.
    client.send_goal(goal)

    # Waits for the server to finish performing the action.
    client.wait_for_result()
    return client.get_result()

class CateringJob:
    def __init__(self):
        rospy.init_node('catering_task', anonymous=True)

        self.BINI_RADI = 5
        self.GUEST_RADI = 0.5
        self.CURR_GOAL_IND = 0

        rospy.Service('bini_cmd', Mission, self.bini_cmd_req_callback)
        rospy.Subscriber("poses", Image, self.perception_callback)        
        self.cancel_goal_pub = rospy.Publisher('/move_base/cancel', GoalID)
        self.mission = PoseArray()
        self.served_areas = PoseArray()
        self.perception_poses = PoseArray()

        self.mutex = Lock()

        self.main_thread = Thread(target = self.main_thread)

        self.main_thread.start()

    def __del__(self):
        self.main_thread.join()

    def main_thread(self):
        while not rospy.is_shutdown():
            self.mutex.acquire()
            if len(self.mission.poses) > 0:
                result = move_base_client(self.mission.poses[self.CURR_GOAL_IND])
                if result:
                    speak_text_client('hello i am bini, can i help you')
                    rospy.sleep(1)
                else:
                    rospy.logerr('Move base goal failed!')
                self.CURR_GOAL_IND += 1
                if self.CURR_GOAL_IND == len(self.mission.poses):
                    self.mission.poses.clear()            
                    self.CURR_GOAL_IND = 0
            self.mutex.release()

    def perception_callback(self, poses):
        self.mutex.acquire()
        rospy.loginfo('Got perception data!')
        if len(poses) > 0:
            valid_poses = []
            robot_pose = self.perception_poses.poses[0]
            for i in range(1, len(self.perception_poses.mission.poses)):
                guest_pose = self.perception_poses.poses[i]
                bini_person_dist = math.sqrt((robot_pose.x-guest_pose.x)**2+(robot_pose.y-guest_pose.y)**2)
                if bini_person_dist <= self.BINI_RADI:
                    for served_area in self.served_areas.poses:
                        already_served = True if math.sqrt((served_area.x-guest_pose.x)**2+(served_area.y-guest_pose.y)**2) < self.GUEST_RADI else False
                        if not already_served:
                            valid_poses.append([guest_pose, bini_person_dist])
            # TODO : mission should be updated according
            if len(valid_poses[0].poses) > 0:
                valid_poses.sort(key=sortByDist)
                self.mission.poses[self.CURR_GOAL_IND:self.CURR_GOAL_IND] = valid_poses[0].poses
                rospy.loginfo('Mission updated!')
                self.served_areas.poses.extend(valid_poses[0].poses)
                valid_poses.clear()
            self.perception_poses.poses.clear()
        self.mutex.release()
        return PerceptionResponse(1)

    def bini_cmd_req_callback(self, req):
        self.mutex.acquire()
        rospy.loginfo('Got mission cmd request')
        if len(req.mission.poses) > 0:
            self.mission.poses.extend(req.mission.poses)
        else:
            self.mission.poses.clear()
            self.cancel_goal_pub.publish({})
        self.mutex ...