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All right, I don't know what happened. I just replaced actionlib::ActionServer<control_msgs::followjointtrajectoryaction>
as_ with actionlib::SimpleActionServer<control_msgs::followjointtrajectoryaction> as_, and change some code, like executeCB(const control_msgs::FollowJointTrajectoryGoalConstPtr &goal). Now it looks like action tutorial http://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionServer%28ExecuteCallbackMethod%29.
Amazing Timer callback function could be called when action-server callback function running.
Now, terminal just like this.
TrackMoving
Arrive to 0 th point :
TimerCallback
TimerCallback
Arrive to 1 th point :
TimerCallback
TimerCallback
Arrive to 2 th point :
TimerCallback
TimerCallback
Arrive to 3 th point :
TimerCallback
TimerCallback
It's amazing! I guess ActionServer & SimpleActionServer are very different. It could be interrupted or not interrupted by other callback function? So actionlib_tutorials/Tutorials just have usage about SimpleActionServer? Maybe,SimpleActionServer is better than ActionServer?
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