I have an actionlib server and I would like to be able to trigger its own goal. I don't need any callbacks for goal accepted, feedback, or even result. I just want to manually set the server to be active. Is this possible? I can't figure out a way to do this. It might be nice if actionlib::SimpleActionServer::acceptNewGoal() was overloaded to accept a goal parameter. That would set the server active, but with NULL callbacks. Thanks, -Ben Ben Axelrod Research Scientist iRobot Corporation 8 Crosby Drive, Mail Stop 8-1 Bedford, MA 01730 (781) 430-3315 (Tel) (781) 960-2628 (Fax) baxelrod@irobot.com