fix: turn stop

uppaal2jetracer/jetracerros2/jetracerros2/turn_controller.py

@@ -104,6 +104,7 @@ class TurnActionClientAsync(Node):
             return
 
         cancel_future = self._goal_handle.cancel_goal_async()
+        logger.debug("Canceling turn request!")
         cancel_future.add_done_callback(self._cancel_response_callback)
 
     def is_turn_goal_active(self) -> bool:
@@ -112,6 +113,8 @@ class TurnActionClientAsync(Node):
 
         :return: True if the turn goal is active, False otherwise.
         """
+        logger.debug("Checking if turn goal is active! Status: %s", self._status)
+
         return (self._status != GoalStatus.STATUS_SUCCEEDED
                 and self._status != GoalStatus.STATUS_ABORTED)
 
@@ -176,7 +179,7 @@ class TurnController:
 
         self._turn_action_client.send_turn_goal_async(theta)
 
-        while (self._turn_action_client.is_turn_goal_active() and rclpy.ok()):
+        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)