After some recent re-evaluations we have thought that it might make more sense for the Mission task to actually be cancelled on Stop.

For example, you have a robot doing a mission of visiting many different locations, and then you press a big red Stop button: you expect the robot to stop, not to just skip the current location where it was going to and proceed to the next one. If you want to cancel only the current location, you do have the option to cancel that one task specifically, as long as you have allow_skipping enabled

Changes:

• Changed the Mission specification to cancel_on_stop=True
• Removed some comments that didn't seem to make too much sense to me (I can add them again or modify if requested)
• Will skip a unsuccessful if the whole mission wasn't cancelled
• Will cancel a mission if cancel was requested
• Will abort a mission if a subtask was unsuccessful and skipping is not allowed