Template Class Turtlebot4BaseService

Defined in File service.hpp

Inheritance Relationships

Derived Types

public turtlebot4::Turtlebot4EmptyService< ServiceT > (Template Class Turtlebot4EmptyService)
public turtlebot4::Turtlebot4Service< ServiceT > (Template Class Turtlebot4Service)

Class Documentation

template<typename ServiceT> class Turtlebot4BaseService

Subclassed by turtlebot4::Turtlebot4EmptyService< ServiceT >, turtlebot4::Turtlebot4Service< ServiceT >

Public Functions

inline explicit Turtlebot4BaseService(std::shared_ptr<rclcpp::Node> &nh, std::string service, uint32_t timeout)

inline virtual ~Turtlebot4BaseService()

virtual void make_request(std::shared_ptr<typename ServiceT::Request> request) = 0

Protected Functions

virtual void response_callback(typename rclcpp::Client<ServiceT>::SharedFuture future) = 0

Protected Attributes

std::shared_ptr<rclcpp::Node> nh_

std::string service_

rclcpp::TimerBase::SharedPtr timer_

uint32_t timeout_

rclcpp::Client<ServiceT>::SharedPtr client_