Hi Ben,<br><br>I just added an example of how to use a SimpleActionClient as a part of a class, along with using boost::bind to register a goal callback with an object method. It's on the same tutorial page as before:<br>
<a href="http://www.ros.org/wiki/actionlib_tutorials/Tutorials/Writing%20a%20Callback%20Based%20Simple%20Action%20Client">http://www.ros.org/wiki/actionlib_tutorials/Tutorials/Writing%20a%20Callback%20Based%20Simple%20Action%20Client</a><br>
<br>Hopefully this clears things up a bit more.<br><br>Vijay<br><br><div class="gmail_quote">On Mon, Sep 13, 2010 at 10:20 AM, Blaise Gassend <span dir="ltr"><<a href="mailto:blaise@willowgarage.com">blaise@willowgarage.com</a>></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;">Have you tried using boost::bind? The C++ example I pointed you at<br>
should illustrate how to use a method as a callback.<br>
<div><div></div><div class="h5"><br>
On Mon, Sep 13, 2010 at 7:59 AM, Axelrod, Benjamin <<a href="mailto:baxelrod@irobot.com">baxelrod@irobot.com</a>> wrote:<br>
> Thank you for the very clear tutorial. Is there a way to give sendGoal<br>
> callbacks that are members of a Client class? It seems to only want global<br>
> functions or perhaps static members…<br>
><br>
><br>
><br>
><br>
><br>
> From: <a href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a> [mailto:<a href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a>]<br>
> On Behalf Of Vijay Pradeep<br>
> Sent: Friday, September 10, 2010 6:35 PM<br>
> To: <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
> Subject: Re: [ros-users] actionlib tutorials<br>
><br>
><br>
><br>
> Hi Ben,<br>
><br>
> I'm sorry that you're having trouble learning how to use actionlib. I just<br>
> put together a fairly short example of how to use the simple action client<br>
> callbacks:<br>
> <a href="http://www.ros.org/wiki/actionlib_tutorials/Tutorials/Writing%20a%20Callback%20Based%20Simple%20Action%20Client" target="_blank">http://www.ros.org/wiki/actionlib_tutorials/Tutorials/Writing%20a%20Callback%20Based%20Simple%20Action%20Client</a><br>
><br>
> Hopefully this will give you something to build off of. If it doesn't<br>
> answer your questions, please let me know, and I can try iterating on the<br>
> example.<br>
><br>
> Good luck,<br>
> Vijay<br>
><br>
> On Fri, Sep 10, 2010 at 10:46 AM, Blaise Gassend <<a href="mailto:blaise@willowgarage.com">blaise@willowgarage.com</a>><br>
> wrote:<br>
><br>
> There are some examples in the linux_networking stack. They are still<br>
> under heavy development, and not particularly simple, but should give<br>
> you the general idea.<br>
><br>
> C++<br>
> <a href="https://code.ros.org/svn/ros-pkg/stacks/linux_networking/trunk/wpa_supplicant_node/src/nodes/wpa_supplicant_node.cpp" target="_blank">https://code.ros.org/svn/ros-pkg/stacks/linux_networking/trunk/wpa_supplicant_node/src/nodes/wpa_supplicant_node.cpp</a><br>
><br>
> Python<br>
> <a href="https://code.ros.org/svn/ros-pkg/stacks/linux_networking/branches/network_monitor_udp/nodes/udpmonsourcenode.py" target="_blank">https://code.ros.org/svn/ros-pkg/stacks/linux_networking/branches/network_monitor_udp/nodes/udpmonsourcenode.py</a><br>
><br>
> On Fri, Sep 10, 2010 at 10:37 AM, Axelrod, Benjamin <<a href="mailto:baxelrod@irobot.com">baxelrod@irobot.com</a>><br>
> wrote:<br>
>> I am a little disappointed in the actionlib tutorials (for boxturtle).<br>
>> They<br>
>> all seem to demonstrate the same pattern, where the client blocks while<br>
>> the<br>
>> server is running. Does anyone have any examples where the client<br>
>> actually<br>
>> subscribes to the Done, Active, and Feedback messages? Ideally, the<br>
>> client<br>
>> would not simply call: client.waitForResult(), but instead use the full:<br>
>><br>
>><br>
>><br>
>> sendGoal ( const Goal & goal,<br>
>><br>
>> SimpleDoneCallback done_cb,<br>
>><br>
>> SimpleActiveCallback active_cb,<br>
>><br>
>> SimpleFeedbackCallback feedback_cb<br>
>><br>
>> )<br>
>><br>
>><br>
>><br>
>> I can’t figure out the proper function signature for the Done, Active, and<br>
>> Feedback callbacks.<br>
>><br>
>><br>
>><br>
>> Thanks,<br>
>><br>
>> -Ben<br>
>><br>
>><br>
>><br>
>> --<br>
>><br>
>> Ben Axelrod<br>
>><br>
>> Research Scientist<br>
>><br>
>> iRobot Corporation<br>
>><br>
>> 8 Crosby Drive, Mail Stop 8-1<br>
>><br>
>> Bedford, MA 01730<br>
>><br>
>> (781) 430-3315 (Tel)<br>
>><br>
>> (781) 960-2628 (Fax)<br>
>><br>
>> <a href="mailto:baxelrod@irobot.com">baxelrod@irobot.com</a><br>
>><br>
>><br>
>><br>
><br>
>> _______________________________________________<br>
>> ros-users mailing list<br>
>> <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
>> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>><br>
>><br>
> _______________________________________________<br>
> ros-users mailing list<br>
> <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
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><br>
><br>
> --<br>
> Vijay Pradeep<br>
> Systems Engineer<br>
> Willow Garage, Inc.<br>
> <a href="mailto:vpradeep@willowgarage.com">vpradeep@willowgarage.com</a><br>
><br>
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><br>
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</div></div></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>