From 0fc8075c2bf1fdff71690fd4f40cc953588a554b Mon Sep 17 00:00:00 2001
From: Rein Appeldoorn <rein.appeldoorn@nobleo.nl>
Date: Fri, 20 Sep 2024 14:34:45 +0200
Subject: [PATCH] fix(simple-action-server): info log instead of warn on cancel

Cancelling on goal is nominal behavior and therefore should not log
warning.
---
 nav2_util/include/nav2_util/simple_action_server.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_util/include/nav2_util/simple_action_server.hpp b/nav2_util/include/nav2_util/simple_action_server.hpp
index c8b1660840f..342f930ab9f 100644
--- a/nav2_util/include/nav2_util/simple_action_server.hpp
+++ b/nav2_util/include/nav2_util/simple_action_server.hpp
@@ -582,7 +582,7 @@ class SimpleActionServer
 
     if (is_active(handle)) {
       if (handle->is_canceling()) {
-        warn_msg("Client requested to cancel the goal. Cancelling.");
+        info_msg("Client requested to cancel the goal. Cancelling.");
         handle->canceled(result);
       } else {
         warn_msg("Aborting handle.");