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