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Hello all, I found my problem. With the help of what the compiler says, I focused on this part: error: no match for call to ‘(boost: This compiler error tells us you try to pass wrong data format into a function. Such as:

void(string data)
{
  print(data) ; 
}

But you try to pass integer variables or data into this func. In my question, we also see same compiler error mentality. After a quick check of my "execute callback func", I realized that I wrote this:

void LoadActionFunc(const qr_drive::load_service_04ActionGoalConstPtr &goal)

while i should type as follow:

void LoadActionFunc(const qr_drive::load_service_06GoalConstPtr &request) ;

After this correction, my compiler doesn't throw any error and problem solved.