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Spawning multiple Action Clients from one node

asked 2012-12-21 09:51:41 -0600

Ammar gravatar image

updated 2014-01-28 17:14:38 -0600

ngrennan gravatar image

Hi All, I am creating several action server nodes to cater to different kinds of Actions that I need to perform. However, I find it inefficient to create 'n' Action Clients for the 'n' # of Action Servers that I have. Though I still want to be able to timeout the Action after a duration x. The only way I see to do this is to sendGoal and wait for x seconds. The wait() will block my node though, preventing other goals to get sent. If I dont wait() I can send multiple goals to multiple servers, however will not be able to timeout of the Action after x seconds. Could someone suggest to me good ways to sendGoal and timeout, without blocking? Perhaps Threads?

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answered 2012-12-24 03:31:43 -0600

Ammar gravatar image
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Asked: 2012-12-21 09:51:41 -0600

Seen: 788 times

Last updated: Dec 24 '12