action goal not calling back

edit

Dear all,

I have set up an action server (unshamingly copied from JointTrajectoryController but for Planar movements). Note that this is an ActionServer, not a SimpleActionServer. Now it turns out that when I send a new goal, not all new goals get to call the server's goals callback: the callback simply does not get called 2 times out of 5 (3 times out of 5 the behavior is fine). There do not seem to be any logic to it.

So I thought I would echo the goal topics to check whether the goals are sent correctly. But another problem comes in: rather often and even when the action callback gets called the topic is not echoed, other times it is echoed as expected.

I must admit I am a bit lost regarding these 2 problems...

Any idea?

Thanks ;)