HI,

I've trying to migrate the docking alg robot from a nodelet to a standard node.

Both the server and non-modified client come up and produce graph below. However when I send the goal the server the goalCb isn't being called.

I've uploaded the code here https://www.dropbox.com/sh/hflo2n3t2egdb0r/AAC7rtI6c6yMkLaJ2LeXwxjYa?dl=0 and I can't see what the problem is. I think the lAutoDockingROS->spin(); is somehow failing to acknowledge the callback.

I'd most appreciate some assistance in getting this working.

Many Thanks

Mark