Using MTCTaskNode as an action server

[emp002]

Hi, I am trying to use the MTCTaskNode class defined in the MTC tutorial as an action server. My objective is to send pick and place coordinates to the action server and the server should plan a path for the given coordinates. I have created the action server and now I run the server alongside the robot model and other dependencies launched. The action server seems to wait for the goal. Using another terminal, I send a goal using command line to the action server and I encounter a "Segmentation fault". Can someone help me on this? I am attaching the server file, CMakeList and some screenshots below for reference.

scara_arm_mus_pick_place.txt
CMakeLists.txt

[rhaschke]

If you get a segfault, it would be helpful to see the backtrace...