Template Function agnocast::create_service

• Defined in File agnocast.hpp

Function Documentation

template<typename ServiceT, typename Func>
Service<ServiceT>::SharedPtr agnocast::create_service(rclcpp::Node *node, const std::string &service_name, Func &&callback, const rclcpp::QoS &qos = rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr group = nullptr)

Create an Agnocast service server (Stage 1 free function).

Template Parameters:

• ServiceT – ROS service type.

• Func – Callable with signature void(const agnocast::ipc_shared_ptr<const RequestT>&, agnocast::ipc_shared_ptr<ResponseT>&).

Parameters:

• node – Pointer to rclcpp::Node.

• service_name – Service name.

• callback – Callback invoked on each request.

• qos – Quality of service profile.

• group – Callback group (nullptr = default).

Returns:

Shared pointer to the created service.