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 On Mon, Oct 11, 2010 at 8:20 AM, Tommy Persson wrote: > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Vijay Pradeep Systems Engineer Willow Garage, Inc. vpradeep@willowgarage.com