Template Function rclcpp::create_generic_client(NodeT, const std::string&, const std::string&, const rclcpp::QoS&, rclcpp::CallbackGroup::SharedPtr)

• Defined in File create_generic_client.hpp

Function Documentation

template<typename NodeT>
rclcpp::GenericClient::SharedPtr rclcpp::create_generic_client(NodeT node, const std::string &service_name, const std::string &service_type, const rclcpp::QoS &qos = rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr group = nullptr)

Create a generic service client with a name of given type.

The NodeT type needs to have NodeBaseInterface implementation, NodeGraphInterface implementation and NodeServicesInterface implementation of the node which to create the client.

Parameters:

• node – [in] The node on which to create the client.

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

• service_type – [in] The name of service type, e.g. “test_msgs/srv/BasicTypes”

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

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

Returns:

Shared pointer to the created client.