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It's not exactly clear to me what you're trying accomplish, but it sounds like you need to have an action server be updated by data on a topic. A good way to accomplish this would be with a class.

It's not exactly clear to me what you're trying accomplish, but it sounds like you need to have an action server be updated by data on a topic. A good way to accomplish this would be with a server with a class. and a client with a class.

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