Class GenericService

• Defined in File generic_service.hpp

Inheritance Relationships

Base Types

• public rclcpp::ServiceBase (Class ServiceBase)

• public std::enable_shared_from_this< GenericService >

Class Documentation

class GenericService : public rclcpp::ServiceBase, public std::enable_shared_from_this<GenericService>

Public Types

using Request = void*

using Response = void*

using SharedRequest = std::shared_ptr<void>

using SharedResponse = std::shared_ptr<void>

using CallbackType = std::function<void(const SharedRequest, SharedResponse)>

using CallbackWithHeaderType = std::function<void(const std::shared_ptr<rmw_request_id_t>, const SharedRequest, SharedResponse)>

Public Functions

GenericService(std::shared_ptr<rcl_node_t> node_handle, const std::string &service_name, const std::string &service_type, GenericServiceCallback any_callback, rcl_service_options_t &service_options)

Default constructor.

The constructor for a Service is almost never called directly. Instead, services should be instantiated through the function rclcpp::create_service().

Parameters:

• node_handle – [in] NodeBaseInterface pointer that is used in part of the setup.

• service_name – [in] Name of the topic to publish to.

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

• any_callback – [in] User defined callback to call when a client request is received.

• service_options – [in] options for the service.

GenericService() = delete

inline virtual ~GenericService()

bool take_request(SharedRequest request_out, rmw_request_id_t &request_id_out)

Take the next request from the service.

See also

ServiceBase::take_type_erased_request().

Parameters:

• request_out – [out] The reference to a service deserialized request object into which the middleware will copy the taken request.

• request_id_out – [out] The output id for the request which can be used to associate response with this request in the future.

Throws:

rclcpp::exceptions::RCLError – based exceptions if the underlying rcl calls fail.

Returns:

true if the request was taken, otherwise false.

virtual std::shared_ptr<void> create_request() override

std::shared_ptr<void> create_response()

virtual std::shared_ptr<rmw_request_id_t> create_request_header() override

virtual void handle_request(std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> request) override

void send_response(rmw_request_id_t &req_id, SharedResponse &response)