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Fix path following cancelation logic #1334

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Fix path following cancelation logic

Fix path following cancelation logic #1334

Run time

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Job Run time
python-test
5m 27s
ros-humble-test
7m 15s
ros-iron-test
7m 9s
ros-jazzy-test
6m 57s
ros-rolling-test
6m 53s
33m 41s