, const std::string&, const std::string&, const rclcpp::QoS&, rclcpp::CallbackGroup::SharedPtr)

Defined in File create_generic_client.hpp

Function Documentation

rclcpp::GenericClient::SharedPtr rclcpp::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)

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

Parameters:

node_base – [in] NodeBaseInterface implementation of the node on which to create the client.
node_graph – [in] NodeGraphInterface implementation of the node on which to create the client.
node_services – [in] NodeServicesInterface implementation of 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.