# Robot will be navigated to the nearest waypoint when go to place task is canceled (#306)

**URL:** <https://discourse.openrobotics.org/t/robot-will-be-navigated-to-the-nearest-waypoint-when-go-to-place-task-is-canceled-306/44834>\
**Category:** Open-RMF General\
**Tags:** rmf-github-discuss\
**Created:** [February 2, 2023, 7:40am UTC](https://discourse.openrobotics.org/t/robot-will-be-navigated-to-the-nearest-waypoint-when-go-to-place-task-is-canceled-306/44834 "2023-02-02T07:40:48Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Archive-o-matic](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/archive-o-matic/32/26074_2.png) [@Archive-o-matic](https://discourse.openrobotics.org/u/Archive-o-matic)\
**Post date:** [February 2, 2023, 7:40am UTC](https://discourse.openrobotics.org/t/robot-will-be-navigated-to-the-nearest-waypoint-when-go-to-place-task-is-canceled-306/44834/1 "2023-02-02T07:40:48Z")

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Posted by @[Missing data]:

Hi,

The robot is executing go\_to\_place task， then I canceled the task. If at the time the task is canceled, the robot is being on lane, but not on waypoint，the robot will be navigated to the nearest waypoint.

Why not stop the robot at the point where its task is canceled?

Thanks  
Stella

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**Author:** ![Archive-o-matic](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/archive-o-matic/32/26074_2.png) [@Archive-o-matic](https://discourse.openrobotics.org/u/Archive-o-matic)\
**Post date:** [February 2, 2023, 12:35pm UTC](https://discourse.openrobotics.org/t/robot-will-be-navigated-to-the-nearest-waypoint-when-go-to-place-task-is-canceled-306/44834/2 "2023-02-02T12:35:49Z")

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Posted by @mxgrey:

> the robot will be navigated to the nearest waypoint

This is because of the [responsive waiting](https://github.com/open-rmf/rmf/discussions/242) behavior. That link has some information on disabling this behavior.

> Why not stop the robot at the point where its task is canceled?

The current planner implementation which is based on navigation graphs with explicitly defined vertices and edges would have some difficulty reasoning about a robot which is sitting idle along an edge. We’re working towards a free space planner for RMF which would be able to have the robot wait anywhere.