text: #include "ROSCommunication/Actions/FollowTrajectoryAction/FTACancelCallback.h"
  
  FROSFollowTrajectoryActionCancelCallback::FROSFollowTrajectoryActionCancelCallback(
  	const FString& InTopic, const FString& InType, UObject* InController) :
  	FROSBridgeSubscriber(InTopic, InType)
  {
  	JointController = Cast<URJointController>(InController);
  }
  
  FROSFollowTrajectoryActionCancelCallback::~FROSFollowTrajectoryActionCancelCallback()
  {
  }
  
  void FROSFollowTrajectoryActionCancelCallback::Callback(TSharedPtr<FROSBridgeMsg> Msg)
  {
    if(JointController)
      {
        UE_LOG(LogTemp, Error, TEXT("The FollowJointTrajectoryActionCancel Callback is a dummy and not implemented yet"));
      }
    else
      {
        UE_LOG(LogTemp, Error, TEXT("JonintController not found"));
      }
  }
  
  TSharedPtr<FROSBridgeMsg> FROSFollowTrajectoryActionCancelCallback::ParseMessage
  (TSharedPtr<FJsonObject> JsonObject) const
  {
    TSharedPtr<actionlib_msgs::GoalID> GoalId =
      MakeShareable<actionlib_msgs::GoalID>(new actionlib_msgs::GoalID());
  
    GoalId->FromJson(JsonObject);
  
    return StaticCastSharedPtr<FROSBridgeMsg>(GoalId);
  }
  