Hi Tommy, You are indeed correct in your understanding for the PREEMPTING->ABORTED and PREEMPTING->SUCCEEDED transitions. Even when a cancel request is received from an ActionClient, it is possible for the user-code on the ActionServer side to Succeed or Abort on the goal before ever noticing the cancel request. Vijay On Mon, Oct 11, 2010 at 11:19 AM, Tommy Persson wrote: > On 10/11/2010 07:33 PM, Vijay Pradeep wrote: > > 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 > > Thanks, I did manage to find this code with google and it solved my > problems. The things it helped with was how to define GoalHandle and the > use of boost::bind in the callback register functions. > > A question about actionlib. When do you go to ABORTED from PREEMPTING? > Is it when you get a cancel request but before you have handled it the > execution of the action is aborted? And the same for going to SUCCEEDED > from PREEMPTING? > > /Tommy > > > _______________________________________________ > 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