multiple/parallel action goal handling example?

asked 2020-10-26 08:39:02 -0500

lucasw gravatar image

updated 2020-10-26 08:55:32 -0500

Are there any examples of a goal server being able to handle multiple clients in parallel?

I see others asking about this https://answers.ros.org/question/9776... and https://github.com/ros/actionlib/issu... and the answers are helpful in that they say multiple goals are possible at all- but having an open source repo to point to that demonstrates this would be very useful. If not a minimally complex tutorial-like example for python and C++ maybe there is a good reference multiple simultaneous same-type goal server buried in a package somewhere?

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