Hi Tommy,<br><br>The ActionServer is in fact a good choice for what you&#39;re trying to do.  However, I don&#39;t believe we have any tutorials that show its usage.  You can find a [hopefully not too complex] example here:<br>

<a href="https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common_actions/trunk/pr2_tilt_laser_interface/src/snapshotter_action.cpp">https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common_actions/trunk/pr2_tilt_laser_interface/src/snapshotter_action.cpp</a><br>

<br>If anyone else has example code that might better portray the ActionServer usage, don&#39;t feel shy to mention it.<br><br>Vijay<br><br><div class="gmail_quote">On Mon, Oct 11, 2010 at 8:20 AM, Tommy Persson <span dir="ltr">&lt;<a href="mailto:tommy.persson@liu.se">tommy.persson@liu.se</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Are there any tutorials for using ActionServer out there? Or some<br>
example code? I have problem defining the callbacks.<br>
<br>
The reason I could not use the Simple Action Server is because I do not<br>
want a new goal to pre-empt a running goal. I want the new goal to be<br>
refused. pre-emption should be done by a special request. And the<br>
ActionServer class seemed suitable to solve this problem.<br>
<font color="#888888"><br>
/Tommy Persson<br>
Linköping University<br>
Sweden<br>
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</font></blockquote></div><br><br clear="all"><br>-- <br>Vijay Pradeep<br>
Systems Engineer<br>
Willow Garage, Inc.<br>
<a href="mailto:tfoote@willowgarage.com" target="_blank"><span></span></a><a href="mailto:vpradeep@willowgarage.com" target="_blank">vpradeep@willowgarage.com</a><br>
<br>