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Using ActionServerWrapper to run actionserver writtten in cpp

asked 2014-08-20 16:21:13 -0500

Arun gravatar image

I have a actionserver written in C++. I want to run this actionserver using actionserverwrapper in smach. Is this possible? Or we have to write the actionserver in python itself?

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answered 2014-08-22 05:05:48 -0500

Chrissi gravatar image

I have to admit that I have never used actionserverwrapper but after reading this I understand that it is used to wrap an entire statemachine into an actionserver. I don't think that is what you want to do.

Regarding your problem: It does not matter in which language the action server is implemented. You can just crate an action client) in your python smach and call the C++ action server.

If this is not the answer you were hoping for, maybe additional information and code samples would clarify what the actual problem is.

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Asked: 2014-08-20 16:21:13 -0500

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Last updated: Aug 22 '14