Hi Tommy,
The ActionServer is in fact a good choice for what you're trying to do. However, I don't believe we have any tutorials that show its usage. You can find a [hopefully not too complex] example here:
https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common_actions/trunk/pr2_tilt_laser_interface/src/snapshotter_action.cpp
If anyone else has example code that might better portray the ActionServer usage, don't feel shy to mention it.
Vijay
Are there any tutorials for using ActionServer out there? Or some
example code? I have problem defining the callbacks.
The reason I could not use the Simple Action Server is because I do not
want a new goal to pre-empt a running goal. I want the new goal to be
refused. pre-emption should be done by a special request. And the
ActionServer class seemed suitable to solve this problem.
/Tommy Persson
Linköping University
Sweden
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