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Well, you obviously don't have to use a function provided by the API. You don't specify what you actually want to do, so the following is a little guess work.

But assuming you don't want to use a blocking call for getting the result, you can query the action server from a SimpleActionClient for its state using the getState function and, given that it is in an appropriate state, retrieve the result using getResult. There is no blocking call involved and you have full control. Check the API docs.

If you don't want to use the SimpleActionClient, look here for the respective functions.

If you want to do something else, please edit your question detailing what you want to achieve.