The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Hi Daniel,
After running your client and server programs (and triggering the counting on the /update topic), it looks like the doneCallback is being triggered correctly upon successful goal completion.
However, you are concerned about the fact that the doneCallback is not being triggered upon goal preemption. Your server app is actually dealing with the preemption correctly. However, it is the client which is ignoring the pre-emption. This is not a bug. As soon as you send a new goal with the SimpleActionClient, it disables the callbacks associated with the previous goal. Thus, you never hear about when the old goal got preempted.
This behavior is described deep in the actionlib docs at: http://www.ros.org/wiki/actionlib/DetailedDescription#Simple_Action_Client
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
