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Add free function for creating service clients #788
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// Copyright 2019 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef RCLCPP__CREATE_CLIENT_HPP_ | ||
#define RCLCPP__CREATE_CLIENT_HPP_ | ||
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#include <memory> | ||
#include <string> | ||
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#include "rclcpp/node_interfaces/node_base_interface.hpp" | ||
#include "rclcpp/node_interfaces/node_services_interface.hpp" | ||
#include "rmw/rmw.h" | ||
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namespace rclcpp | ||
{ | ||
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/// Create a service client with a given type. | ||
/// \internal | ||
template<typename ServiceT> | ||
typename rclcpp::Client<ServiceT>::SharedPtr | ||
create_client( | ||
std::shared_ptr<node_interfaces::NodeBaseInterface> node_base, | ||
std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph, | ||
std::shared_ptr<node_interfaces::NodeServicesInterface> node_services, | ||
const std::string & service_name, | ||
const rmw_qos_profile_t & qos_profile, | ||
rclcpp::callback_group::CallbackGroup::SharedPtr group) | ||
{ | ||
rcl_client_options_t options = rcl_client_get_default_options(); | ||
options.qos = qos_profile; | ||
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auto cli = rclcpp::Client<ServiceT>::make_shared( | ||
node_base.get(), | ||
node_graph, | ||
service_name, | ||
options); | ||
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auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli); | ||
node_services->add_client(cli_base_ptr, group); | ||
return cli; | ||
} | ||
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} // namespace rclcpp | ||
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#endif // RCLCPP__CREATE_CLIENT_HPP_ |
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does it make sense to change API for the
client
so that node base can also be passed as a shared pointer?There was a problem hiding this comment.
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Yes, probably. I think that is outside the scope of this PR though.
I believe services need to be revisited in general. They should be using the new
QoS
class and have an options struct similar to publishers and subscriptions.