Program Listing for File create_generic_client.hpp
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// 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_