[ros-users] Non-simple action server?

[Tommy Persson]

On 10/11/2010 07:33 PM, Vijay Pradeep wrote:
> Hi Tommy,
>
> The ActionServer is in fact a good choice for what you're trying to do.
> However, I don't believe we have any tutorials that show its usage.  You
> can find a [hopefully not too complex] example here:
> https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common_actions/trunk/pr2_tilt_laser_interface/src/snapshotter_action.cpp

Thanks, I did manage to find this code with google and it solved my 
problems. The things it helped with was how to define GoalHandle and the 
use of boost::bind in the callback register functions.

A question about actionlib. When do you go to ABORTED from PREEMPTING? 
Is it when you get a cancel request but before you have handled it the 
execution of the action is aborted? And the same for going to SUCCEEDED 
from PREEMPTING?

/Tommy