Thanks.  I did try to create a client inside the server.  For some reason I thought it didn’t work. But maybe I messed something up.  I think it would hang when I called tempclient.waitForServer().

Vijay: I don’t want the server to be active on a null goal.  I do want a goal.  I want to provide the goal from inside the client.  This is to simplify testing and debugging. 

This is the pattern I am looking for:

void MyActionServer::goalCallback()

{

    // accept goal from client

    goal_ = *server_.acceptNewGoal();

    this->performAction(goal_);

}

void MyActionServer::triggerGoalInternallyCallback()

{

    // create a goal for internal testing

    MyActionServerGoal tempGoal;

    tempGoal.foo = “bar”;

    this->performAction(tempGoal);

}

However, I have no performAction() method.  And because the service routine uses a timer, and relies on the server being active, it is not so easy to split out.

So, ideally, I would have this:

void MyActionServer::triggerGoalInternallyCallback()

{

    // create a goal for internal testing

    MyActionServerGoal tempGoal;

    tempGoal.foo = “bar”;

    this->server_->setGoal(tempGoal);

}

Which would then trigger the MyActionServer::goalCallback().

From: ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org] On Behalf Of Vijay Pradeep
Sent: Monday, October 18, 2010 1:21 PM
To: User discussions
Subject: Re: [ros-users] trigger goal from inside actionlib server

Hi Ben,

If this is what you want to do, I would go with Blaise's suggestion and send a goal using the action client with no callbacks registered.

However, I'm not really sure why you would want to have the SimpleActionServer be active on null goal.  Understanding your use case would help us get a feel for exactly what functionality you need.

Vijay

On Mon, Oct 18, 2010 at 9:44 AM, Blaise Gassend <blaise@willowgarage.com> wrote:

Hi Ben,

On Mon, Oct 18, 2010 at 9:06 AM, Axelrod, Benjamin <baxelrod@irobot.com> wrote:
> 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.

Why don't you use a SimpleActionClient to set the goal? If you don't
specify the callbacks when setting you call sendGoal, those callbacks
default to being null. Is that not what you want?

http://www.ros.org/doc/api/actionlib/html/classactionlib_1_1SimpleActionClient.html#ae6a2e6904495e7c20c59e96af0d86801

> 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.

Is there a strong reason for wanting to do this without explicitly
having a client?

Blaise
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--
Vijay Pradeep
Systems Engineer
Willow Garage, Inc.
vpradeep@willowgarage.com