Function rcl_take_request

• Defined in File service.h

Function Documentation

rcl_ret_t rcl_take_request(const rcl_service_t *service, rmw_request_id_t *request_header, void *ros_request)

Backwards compatibility function to take a pending ROS request using a rcl service.

This version takes a request ID only. See rcl_take_request_with_info() for a full explanation of what this does.

Parameters:

• service – [in] the handle to the service from which to take

• request_header – [inout] ptr to the struct holding the id of the request

• ros_request – [inout] type-erased ptr to an allocated ROS request message

Returns:

RCL_RET_OK if the request was taken, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_SERVICE_INVALID if the service is invalid, or

Returns:

RCL_RET_BAD_ALLOC if allocating memory failed, or

Returns:

RCL_RET_SERVICE_TAKE_FAILED if take failed but no error occurred in the middleware, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.