controller_server `computeControl()` blocks simple_action_server `work()` about navigation2 HOT 1 CLOSED

This is all the expected workflow. work is called after the goal is acked and is supposed to block for the callback to do its work. You can see this action wrapped used in all Nav2 task servers successfully!

accept_pending_goal within the task server is to handle preemption requested goals, not initial goals. It is possible however if you haven't properly implemented your action server, then you're not querying if there are pending preemption goals waiting to accept. Then you might see this error, but that is w.r.t. your implementation of the action server's callbacks and workflows. This works for all Nav2 task servers and might be a good source of learning for you in implementing your own. If you're having issues with the initial goals, then its probably a typo on your action server or other issues that isn't hooking up your client to your server so the client cannot communicate with it.

If you have any additional followups, please ask on Robotics Stack Exchange, this is not the right place for Q&A but I appreciate that you thought that there might a bug when you filed this.

from navigation2.