The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Works out of the box. But the goalhandles received in the GoalCallback on the server side have to be stored somewhere to get access to older goals. In my implementation I just store them in a vector.
Store the callback goalhandles on the server side and store the client goalhandles on the client side. Client goalhandles are the returned object of actionclient.sendGoal(goal).
Use the client goalhandle received from the sendGoal-Function.
The server goalhandle has a function allowing to access the goal. It can be accessed with (*server_goalhandle.getGoal()).[goal-attribute1]
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
