Dear all,

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>
MoveBaseClient;
MoveBaseClient _move_base_client;

if( actionlib::SimpleClientGoalState::ACTIVE ==
_move_base_client.getState().state_
        || actionlib::SimpleClientGoalState::PENDING ==
_move_base_client.getState().state_ )
    {
        _move_base_client.cancelAllGoals();
    }

leads to

ERROR] [1290088710.616548792]: To transition to a succeeded state, the
goal must be in a preempting or active state, it is currently in state: 2

or

[ERROR] [1290088710.631738950]: To transition to a cancelled state, the
goal must be in a pending, recalling, active, or preempting state, it is
currently in state: 2

state=2 should be RECALLED or am I wrong. If the state is 2 than
cancelAllGoals should never be called.