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First, change your callback argument const es_1::Draw msg to const es_1::Draw::ConstPtr& msg.

As mentioned in section 2.2. of roscpp tutorial, "The message is passed in a boost shared_ptr"

Now since callback accepts the arguments as boost::shared_ptr, you may encapsulate your action client like this:

boost::shared_ptr<Client> client; client.reset(new Client(..)); // initialize ros::Subscriber sub = n.subscribe<es_1::Draw>("draw", 1000, boost::bind(polygonCallback, _1, client)); ... void polygonCallback(const es_1::Draw::ConstPtr &msg, const boost::shared_ptr<Client> &cl){//Stuff} // use cl by ->

First, change your callback argument const es_1::Draw msg to const es_1::Draw::ConstPtr& msg.

As mentioned in section 2.2. of roscpp tutorial, "The message is passed in a boost shared_ptr"

Now since callback accepts the arguments as boost::shared_ptr, you may encapsulate your action client like this:

``` boost::shared_ptr<client> client;

... void polygonCallback(const es_1::Draw::ConstPtr &msg, const boost::shared_ptr<Client> boost::shared_ptr<client> &cl){//Stuff} // use cl by -> '->'

First, change your callback argument const es_1::Draw msg to const es_1::Draw::ConstPtr& msg.

As mentioned in section 2.2. of roscpp tutorial, "The message is passed in a boost shared_ptr"

Now since callback accepts the arguments as boost::shared_ptr, you may encapsulate your action client like this:

``` boost::shared_ptr<client> client;

client)); ... void polygonCallback(const es_1::Draw::ConstPtr &msg, const boost::shared_ptr<client> boost::shared_ptr<Client> &cl){//Stuff} // use cl by '->'->

First, change your callback argument const es_1::Draw msg to const es_1::Draw::ConstPtr& msg.

As mentioned in section 2.2. of roscpp tutorial, "The message is passed in a boost shared_ptr"

Now since callback accepts the arguments as boost::shared_ptr, you may encapsulate your action client like this:

boost::shared_ptr<Client> client;