Template Class Service

• Defined in File service.hpp

Inheritance Relationships

Base Types

• public rclcpp::ServiceBase (Class ServiceBase)

• public std::enable_shared_from_this< Service< ServiceT > >

Class Documentation

template<typename ServiceT>
class Service : public rclcpp::ServiceBase, public std::enable_shared_from_this<Service<ServiceT>>

Public Types

using CallbackType = std::function<void(const std::shared_ptr<typename ServiceT::Request>, std::shared_ptr<typename ServiceT::Response>)>

using CallbackWithHeaderType = std::function<void(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<typename ServiceT::Request>, std::shared_ptr<typename ServiceT::Response>)>

Public Functions

inline Service(std::shared_ptr<rcl_node_t> node_handle, const std::string &service_name, AnyServiceCallback<ServiceT> 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.

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

• service_options – [in] options for the service.

inline Service(std::shared_ptr<rcl_node_t> node_handle, std::shared_ptr<rcl_service_t> service_handle, AnyServiceCallback<ServiceT> any_callback)

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_handle – [in] service handle.

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

inline Service(std::shared_ptr<rcl_node_t> node_handle, rcl_service_t *service_handle, AnyServiceCallback<ServiceT> any_callback)

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_handle – [in] service handle.

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

Service() = delete

inline virtual ~Service()

inline bool take_request(typename ServiceT::Request &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 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.

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

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

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

inline void send_response(rmw_request_id_t &req_id, typename ServiceT::Response &response)

inline void configure_introspection(Clock::SharedPtr clock, const QoS &qos_service_event_pub, rcl_service_introspection_state_t introspection_state)

Configure service introspection.

Parameters:

• clock – [in] clock to use to generate introspection timestamps

• qos_service_event_pub – [in] QoS settings to use when creating the introspection publisher

• introspection_state – [in] the state to set introspection to