.. _program_listing_file_include_rclcpp_create_generic_client.hpp:

Program Listing for File create_generic_client.hpp
==================================================

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

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

.. code-block:: cpp

   // Copyright 2023 Sony Group Corporation.
   //
   // 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_GENERIC_CLIENT_HPP_
   #define RCLCPP__CREATE_GENERIC_CLIENT_HPP_
   
   #include <memory>
   #include <string>
   
   #include "rclcpp/generic_client.hpp"
   #include "rclcpp/node_interfaces/get_node_base_interface.hpp"
   #include "rclcpp/node_interfaces/get_node_graph_interface.hpp"
   #include "rclcpp/node_interfaces/get_node_services_interface.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/node_interfaces/node_graph_interface.hpp"
   #include "rclcpp/node_interfaces/node_services_interface.hpp"
   #include "rclcpp/qos.hpp"
   
   namespace rclcpp
   {
   
   RCLCPP_PUBLIC
   rclcpp::GenericClient::SharedPtr
   create_generic_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 std::string & service_type,
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
   template<typename NodeT>
   rclcpp::GenericClient::SharedPtr
   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)
   {
     return create_generic_client(
       rclcpp::node_interfaces::get_node_base_interface(node),
       rclcpp::node_interfaces::get_node_graph_interface(node),
       rclcpp::node_interfaces::get_node_services_interface(node),
       service_name,
       service_type,
       qos,
       group
     );
   }
   }  // namespace rclcpp
   
   #endif  // RCLCPP__CREATE_GENERIC_CLIENT_HPP_