From fd005a087d15e038667b2e94dea9ac7d8906d35c Mon Sep 17 00:00:00 2001
From: Romain Reignier <rom.reignier@gmail.com>
Date: Sun, 11 Mar 2018 00:02:28 +0100
Subject: [PATCH] action_client: register the feedback and result callbacks in
 separate methods

---
 src/ros_lib/ros/action_client.h | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/ros_lib/ros/action_client.h b/src/ros_lib/ros/action_client.h
index c331776..820009c 100644
--- a/src/ros_lib/ros/action_client.h
+++ b/src/ros_lib/ros/action_client.h
@@ -87,13 +87,10 @@ namespace ros {
         resetState();
       }
 
-      void sendGoal(const Goal& goal, FeedbackCallbackT feedback_cb = FeedbackCallbackT(), ResultCallbackT result_cb = ResultCallbackT())
+      void sendGoal(const Goal& goal)
       {
         if(!goal_pub.nh_->connected()) return;
 
-        feedback_cb_ = feedback_cb;
-        result_cb_ = result_cb;
-
         ActionGoal action_goal_msg;
         // no goal id and stamp -> will be generated by the action server
         // see: http://wiki.ros.org/actionlib/DetailedDescription
@@ -109,6 +106,16 @@ namespace ros {
           cancel_pub.publish(msg);
       }
 
+      void registerFeedbackCallback(FeedbackCallbackT feedback_cb)
+      {
+        feedback_cb_ = feedback_cb;
+      }
+
+      void registerResultCallback(ResultCallbackT result_cb)
+      {
+        result_cb_ = result_cb;
+      }
+
       void registerStateCallback(StateChangedCallbackT state_cb)
       {
         state_cb_ = state_cb;