Problem running ROS action server and service server simultaneously

I am stuck on Part iii of the ROS IN 5 DAYS Rosject. I dont know how to make the robot move and simultaneously record odometry. Please how can i do this?

Hi Yekeen,

I recommend you start trying to record the odometry with an action server without the rest of your program. You can send a single velocity command and activate your server, that way, if it works you know the action is not the problem, but the logic in your implementation.

Once you have the action server working by itself, you can integrate it into the previous parts (one file for the service server, one for the action server and one for the main program). NOTE: Please use classes, as this will keep things organized.

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