fix: add goal_handle reset

uppaal2jetracer/jetracerros2/jetracerros2/turn_controller.py

@@ -75,6 +75,7 @@ class TurnActionClientAsync(Node):
         """
 
         self._status = GoalStatus.STATUS_UNKNOWN
+        self._goal_handle = None
 
     def send_turn_goal_async(self, theta: float):
         """
@@ -107,6 +108,8 @@ class TurnActionClientAsync(Node):
         logger.debug("Canceling turn request!")
         cancel_future.add_done_callback(self._cancel_response_callback)
 
+        self._goal_handle = None
+
     def is_turn_goal_active(self) -> bool:
         """
         Check if the turn goal is active.
@@ -158,6 +161,7 @@ class TurnController:
         Stop the JetRacer.
         """
         self._turn_action_client.cancel_turn_goal_async()
+        self._turn_action_client.cleanup()
 
     def shutdown(self):
         """
@@ -179,7 +183,7 @@ class TurnController:
 
         self._turn_action_client.send_turn_goal_async(theta)
 
-        while (self._turn_action_client.is_turn_goal_active()):
+        while self._turn_action_client.is_turn_goal_active():
             logger.debug("Waiting for Turn action request %f to succeed.", theta)
             rclpy.spin_once(self._turn_action_client)