Goal preemted

[sree9578]

Hello all,

/// I am facing below three issues while working with customized maps as input,

1. [ WARN] [1636626431.539091710]: Your executeCallback did not set the goal to a terminal status.
   This is a bug in your ActionServer implementation. Fix your code!
   For now, the ActionServer will set this goal to aborted

i am receiving the above warning message and my goal status of a robot becomes preemted and it does not reach the goal position..

2.In some cases where the goal preemted occurs,the robot moves in path out of the generated route and it even crosses the obstacles (non drivable area of map) and the other robots.

3.I have faced some cases where no route found .
Failed to find routing table.....No plan found ..publishing empty plan

Can u help us with resolving these cases.
Thank you for your help.