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The documentation of the method is
void setSucceeded (const Result &result=Result(), const std::string &text=std::string(""))
So that you are always calling the same function, but default parameters are given if you don't give any. If you call as_.setSucceeded(result_)
you have to opportunity to return a result from the action. However, if you call as->setSucceeded();
your result message will be all zeros.