Function rclc_executor_add_service_with_context

• Defined in File executor.h

Function Documentation

rcl_ret_t rclc_executor_add_service_with_context(rclc_executor_t *executor, rcl_service_t *service, void *request_msg, void *response_msg, rclc_service_callback_with_context_t callback, void *context)

Adds a service to an executor.

• An error is returned if rclc_executor_t.handles array is full.

• The total number_of_services field of rclc_executor_t.info is incremented by one.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• executor – [inout] pointer to initialized executor

• service – [in] pointer to an allocated and initialized service

• request_msg – [in] type-erased ptr to an allocated request message

• response_msg – [in] type-erased ptr to an allocated response message

• callback – [in] function pointer to a callback function with request_id

• context – [in] type-erased ptr to additional service context

Returns:

RCL_RET_OK if add-operation was successful

Returns:

RCL_RET_INVALID_ARGUMENT if any parameter is a null pointer

Returns:

RCL_RET_ERROR if any other error occured