Template Function rclcpp::create_service(std::shared_ptr<node_interfaces::NodeBaseInterface>, std::shared_ptr<node_interfaces::NodeServicesInterface>, const std::string&, CallbackT&&, const rclcpp::QoS&, rclcpp::CallbackGroup::SharedPtr)

Function Documentation

template<typename ServiceT, typename CallbackT>
rclcpp::Service<ServiceT>::SharedPtr rclcpp::create_service(std::shared_ptr<node_interfaces::NodeBaseInterface> node_base, std::shared_ptr<node_interfaces::NodeServicesInterface> node_services, const std::string &service_name, CallbackT &&callback, const rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create a service with a given type.

Parameters:

  • node_base – [in] NodeBaseInterface implementation of the node on which to create the service.

  • node_services – [in] NodeServicesInterface implementation of the node on which to create the service.

  • service_name – [in] The name on which the service is accessible.

  • callback – [in] The callback to call when the service gets a request.

  • qos – [in] Quality of service profile for the service.

  • group – [in] Callback group to handle the reply to service calls.

Returns:

Shared pointer to the created service.