[ros-users] Non-simple action server?

Are there any tutorials for using ActionServer out there? Or some
example code? I have problem defining the callbacks.

The reason I could not use the Simple Action Server is because I do not
want a new goal to pre-empt a running goal. I want the new goal to be
refused. pre-emption should be done by a special request. And the
ActionServer class seemed suitable to solve this problem.

/Tommy Persson
Linköping University
Sweden