I am using in rviz2 the tool nav2 goal. But I want to cancel the robot's navigation when it is at a distance of less than 2 meters from an obstacle

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I want to replicate this button but in a python code. The robot should stop if it is close <2 m from any obstacle. I know the functions BasicNavigator.cancelTask() works but just if you add the goal in code but I need to use the Nav2 Goal tool.

I tried using the Simple Commander API just calling the BasicNavigator.cancelTask() function but is not working I think I am using wrong. Does anyone how to do it ? It should be calling a service but I do not know which one exactly.

#!/usr/bin/env python3 
import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator
from rclpy.node import Node

from rclpy.action import ActionClient
from std_srvs.srv import SetBool

class StopNavigation(Node):
    def __init__(self):
        super().__init__('stop_navigation')
        # Create a BasicNavigator object.
        self.navigator = BasicNavigator()

    def stop_navigation_client(self):
        while rclpy.ok:
            self.navigator.waitUntilNav2Active()
            client = self.create_client(SetBool, "soft_stop_navigation")

            # Wait for the SetBool client to become available.
            while not client.wait_for_service(timeout_sec=1.0):
                rclpy.spin_once(self)

            # Send a request to the SetBool client.
            request = SetBool.Request()
            request.data = True
            future = client.call_async(request)
            rclpy.spin_until_future_complete(self, future)    

            # Check the response.
            response = future.result()
            print("")
            print("future_t: ", response.success)
            print("feedback: ",self.navigator.getFeedback())
            print("")
            if response.success:
                print("SetBool service succeeded, Cancel Nav.")
                self.navigator.cancelTask()

                # Check if the task was successfully canceled
                if self.navigator.cancelTask():
                    print("Task was successfully canceled")
                else:
                    print("Task could not be canceled")
                break
            else:
                print("Continue Nav...")

def main():
    # Initialize the ROS node.
    rclpy.init()

    # Create a MyNode object.
    node = StopNavigation()

    # Wait for the SetBool client to become available.
    node.stop_navigation_client()
    rclpy.spin_once(node)

    # Shutdown the ROS node.
    rclpy.shutdown()

if __name__ == "__main__":
    main()