Actionlib notifications not received

edit

Hi,

I have been trying to notify to both action server and action client when any of them dies. I would like the client to be notified by the server whenever this server dies. Similarly, I would like the server to be notified if the current client dies for some reason.

I am using a simple action server with the execute callback option, and a client with the done, active and feedback callbacks.

In the destructor of the node containing the action server, I have added the following code:

if ( as_.isActive() )
{
  as_.setAborted();
}
as_.shutdown();

Unfortunately, the client never gets any kind of notification. I was expecting the done callback to receive an aborted status, or something similar.

For the client notification, I have tried to use the isServerConnected() and getState() functions from the node's destructor, but I always get the same result whether the server is running or not: isServerConnected()=0 and getState()=Aborted. I have also called cancelGoal() and stopTrackingGoal() to let the server cancel the current goal, but they seem to have no effect.

Maybe I am missing some important key points. Any Suggestion?

Joan