Simple Action Server should expose setRejected about actionlib HOT 3 OPEN

Understood. However, SimpleActionServer already has the flexibility to allow users to do complicated things if they want by subscribing to the goal and preempt callbacks: http://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionServer%28GoalCallbackMethod%29.

I can certainly envision some advanced behaviors that one might want when a goal must be rejected, but I think the SimpleActionServer should do something simple like preempting the current goal.

I fail to see how adding this option in any way decreases the usefulness or simplicity of SimpleActionServer.

from actionlib.

The goal of the SimpleActionServer is to provide a simple solution which covers the simple use cases only, allowing an action server to be implemented in a few lines of code. It does not try to provide full coverage of the Action state space. If you want more complicated behaviours it's recommended to create your own action server implementation.

from actionlib.

Resurrecting an old issue:
@benaxelrod actually the SimpleActionServer has very limited flexibility. If you examine closely the
template <class ActionSpec> void SimpleActionServer<ActionSpec>::goalCallback(GoalHandle goal)
function you will see that the user can only do very few things with his custom goal callback. E.g. he cannot reject it and keep executing the previous goal as it's preemption status has been altered.
As @tfoote has suggested, you must implement your own ActionServer. My only -minor- complain is that there are no other Action Servers/Clients provided besides the Simple ones.

from actionlib.