Robot Stuck at Charging Station

[robologics1]

Thanks for your work, I tried to implement your simple case(better xml) . But when robot goes to charging station whatever(setbatterylelvel, chargebattery service) I do, Batterylevelabove condition does not change.

Does it relate with deadlock? Did u ever face with this kind of bug? Any help appriciated.

[robologics1]

Bug is about; halt/abort goto actions are not getting killed. When goto charging action activated, system gets stuck because of two alive/running goto action.