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You are correct; this is a C++ question.
The actionlib::SimpleActionServer class does not have a default constructor: http://docs.ros.org/melodic/api/actionlib/html/classactionlib_1_1SimpleActionServer.html
Therefore, you must provide constructor arguments when the SimpleActionServer object is constructed. If this object is a member of another class, then the C++ standard states that the constructor arguments must be passed in the initializer list.
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