Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I made it work by subclassing ActionServerWrapper and overriding execute_cb. Then I can set the relevant state machine dynamically in the execute_cb before calling the original ActionServerWrapper.execute_cb.

Action server source: http://docs.ros.org/diamondback/api/smach_ros/html/python/smach_ros.action_server_wrapper.ActionServerWrapper-class.html