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It can be done using Actionlib under C++. Check this link: http://wiki.ros.org/actionlib_tutorials/Tutorials/Writing%20a%20Callback%20Based%20Simple%20Action%20Client

For an example check the face_recognition package, it uses exactly the same structure as the one in the link I sent you. However I'm still looking for a python equivalent of that as there is no tutorials about it.

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