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I think the signature of the handle_goal function isn't quite right. Try making the template type const:

rclcpp_action::GoalResponse handle_goal(GoalID &uuid, shared_ptr<const StringTask::Goal> goal);

For future reference, I've opened a PR to adding examples that use member functions:

https://github.com/ros2/examples/pull/230/files

I think the signature of the handle_goal function isn't quite right. Try making the template type const:

rclcpp_action::GoalResponse handle_goal(GoalID &uuid, shared_ptr<const StringTask::Goal> goal);

For future reference, I've opened a PR to adding examples that use member functions:

https://github.com/ros2/examples/pull/230/files