Hi All,

Not sure where I an going wring here - byt the compiler isn't happy. Basically I want to add the callbacks to the MoveBaseClient sendGoal() method so that I can monitor progress.

Code is basically this:

Callbacks:

void goalCompletePlanCallBack(const actionlib::SimpleClientGoalState &state, 
                          const move_base_msgs::MoveBaseActionResultConstPtr &result)
{
    ROS_INFO("Goal Plan Complete");
}

void goalActiveCallBack()
{
    ROS_INFO("Planning Goal Active");
}

void goalFeedbackCallback(const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
{

}

then in the code I call:

...
move_base_msgs::MoveBaseGoal goal;

ac.sendGoal(goal, &goalCompletePlanCallBack, &goalActiveCallBack, &goalFeedbackCallback);

...

But the compiler just errors. What is the the correct way to call this?

Many Thanks

Mark

while (navigationState == actionlib::SimpleClientGoalState::ACTIVE ||
     navigationState == actionlib::SimpleClientGoalState::PENDING)
{
    navigationState = ac.getState();
    ROS_DEBUG("Navigation State: %s", navigationState.toString().c_str());
    sleep(1);

    if (cmdString == "HOME")
    {
        ac.cancelGoal();
    }
}