Using ActionServerWrapper to run actionserver writtten in cpp

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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.