About implementing a Simple Action Server

asked 2014-11-07 15:01:19 -0500

Andromeda gravatar image

updated 2014-11-07 15:02:49 -0500

Hello, my target is to implement a simple_action_server which talks to the client. I followed the tutorial online but I think that there are things not too much clear (at least to me).

On the client side I wanted to use the simple_action_client class for ROS. When calling from this file the following method:

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> action_goal_;
(  much later in the code.. )
action_goal_.isServerConnected()

I expect to get an answer from my server, but I cannot find in the API the right function that must be called in my code for the server.

Investigating a little bit I found that when the server is launch a private variable is set (here):

bool state_

but I coudln't find any function which outputs that value. Must it be implemented in my code for the server?

If yes: how connect the client to the server? Reagrds

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