actionlib_cpp_disconnect (see http://answers.ros.org/question/70012/actionlib-reconnect-problem-c-with-test-case/)

client.cpp

#include <boost/thread.hpp>
#include <ros/ros.h>
#include <actionlib/client/action_client.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/TestAction.h>

void ros_spin()
{
  ros::spin();
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "client");
  ros::NodeHandle nh;
  
  actionlib::SimpleActionClient<actionlib::TestAction> client("action", true);

  client.waitForServer();
  
  int32_t counter = 0;
  ros::Rate loop_rate(1.0);
  while (ros::ok())
  {
    actionlib::TestGoal goal;
	goal.goal = counter;

    if (client.isServerConnected())
    {
      printf("client connected, sending goal=%d!\n", goal.goal);
      client.sendGoal(goal);
      bool finished_within_time = client.waitForResult(ros::Duration(10.0));
      if (!finished_within_time)
      {
        client.cancelGoal();
        ROS_WARN("Timed out achieving goal!");
      }
      else
      {
        actionlib::SimpleClientGoalState state = client.getState();
        if (state == actionlib::SimpleClientGoalState::SUCCEEDED)
          ROS_INFO("Action finished: %s", state.toString().c_str());
        else
          ROS_INFO("Action failed: %s", state.toString().c_str());
      }
    }
    else
    {
      printf("client not connected, skipping goal=%d!\n", goal.goal);
      // client.cancelAllGoals();
    }
    
    loop_rate.sleep();
    ros::spinOnce();
    counter++;
  }
  
  return 0;
}

server.cpp

#include <ros/ros.h>
#include <actionlib/server/action_server.h>
#include <actionlib/server/simple_action_server.h>
#include <actionlib/TestAction.h>

actionlib::SimpleActionServer<actionlib::TestAction>* server = 0;

void cb_goal(const actionlib::SimpleActionServer<actionlib::TestAction>::GoalConstPtr &goal)
{
  printf("server received new goal, goal=%d!\n", goal->goal);
  server->setSucceeded();
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "server");
  ros::NodeHandle nh;
  
  server = new actionlib::SimpleActionServer<actionlib::TestAction>(nh, "action", cb_goal, false);

  server->start();
 
  ros::spin();
  
  return 0;
}