It came to our attention that users get understandably confused when a robot enters a cancellation sequence after a task has been canceled because the task status makes it appear as though the cancellation had no effect.
This PR adds a new type of phase called a "cancellation phase" which simply gets wrapped around any phase that belongs to a cancellation sequence. This cancellation phase will give clear indications to users that the task has been successfully canceled and is undertaking a cancellation activity.
It came to our attention that users get understandably confused when a robot enters a cancellation sequence after a task has been canceled because the task status makes it appear as though the cancellation had no effect.
This PR adds a new type of phase called a "cancellation phase" which simply gets wrapped around any phase that belongs to a cancellation sequence. This cancellation phase will give clear indications to users that the task has been successfully canceled and is undertaking a cancellation activity.