.. _program_listing_file_include_rclcpp_create_client.hpp:

Program Listing for File create_client.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_create_client.hpp>` (``include/rclcpp/create_client.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__CREATE_CLIENT_HPP_
   #define RCLCPP__CREATE_CLIENT_HPP_
   
   #include <memory>
   #include <string>
   
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/node_interfaces/node_services_interface.hpp"
   #include "rclcpp/qos.hpp"
   #include "rmw/rmw.h"
   
   namespace rclcpp
   {
   
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
     std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
     std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
     std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
     const std::string & service_name,
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr)
   {
     return create_client<ServiceT>(
       node_base, node_graph, node_services,
       service_name,
       qos.get_rmw_qos_profile(),
       group);
   }
   
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
     std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
     std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
     std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile,
     rclcpp::CallbackGroup::SharedPtr group)
   {
     rcl_client_options_t options = rcl_client_get_default_options();
     options.qos = qos_profile;
   
     auto cli = rclcpp::Client<ServiceT>::make_shared(
       node_base.get(),
       node_graph,
       service_name,
       options);
   
     auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli);
     node_services->add_client(cli_base_ptr, group);
     return cli;
   }
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__CREATE_CLIENT_HPP_