Just a quick question with regards to the simple action client - why is using the getState() method considered improper when there is no goal (action client outputs an ROS_ERROR when you do so). Is there another means of querying the server to know whether it is currently handling a goal or not?

Or perhaps, am I mistaken in thinking that I should be needing to?

Regards,

Daniel Stonier.

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Yujin Robot: http://www.yujinrobot.com/

Eros: http://www.ros.org/wiki/eros