roswrap::service Namespace Reference

Contains functions for querying information about and calling a service. More...

Functions
template<class MReq , class MRes >
bool	call (const std::string &service_name, MReq &req, MRes &res)
	Invoke an RPC service. More...
template<class Service >
bool	call (const std::string &service_name, Service &service)
	Invoke an RPC service. More...
template<class MReq , class MRes >
ServiceClient	createClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())
	Create a client for a service. More...
template<class Service >
ServiceClient	createClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())
	Create a client for a service. More...
ROSCPP_DECL bool	exists (const std::string &service_name, bool print_failure_reason)
	Checks if a service is both advertised and available. More...
ROSCPP_DECL bool	waitForService (const std::string &service_name, int32_t timeout)
	Wait for a service to be advertised and available. Blocks until it is. More...
ROSCPP_DECL bool	waitForService (const std::string &service_name, ros::Duration timeout=ros::Duration(-1))
	Wait for a service to be advertised and available. Blocks until it is. More...

Detailed Description

Contains functions for querying information about and calling a service.

Function Documentation

call() [1/2]

template<class MReq , class MRes >

bool roswrap::service::call	(	const std::string &	service_name,
		MReq &	req,
		MRes &	res
	)

Invoke an RPC service.

This method invokes an RPC service on a remote server, looking up the service location first via the master.

Parameters

	service_name	The name of the service.
	req	The request message.
[out]	res	Storage for the response message.

Returns

true on success, false otherwise.

Definition at line 66 of file service.h.

call() [2/2]

template<class Service >

bool roswrap::service::call	(	const std::string &	service_name,
		Service &	service
	)

Invoke an RPC service.

This method invokes an RPC service on a remote server, looking up the service location first via the master.

Parameters

service_name	The name of the service.
service	The service class that contains the request and response messages

Returns

true on success, false otherwise.

Definition at line 86 of file service.h.

createClient() [1/2]

template<class MReq , class MRes >

ServiceClient roswrap::service::createClient	(	const std::string &	service_name,
		bool	persistent = false,
		const M_string &	header_values = M_string()
	)

Create a client for a service.

When the last handle reference of a persistent connection is cleared, the connection will automatically close.

Parameters

service_name	The name of the service to connect to
persistent	Whether this connection should persist. Persistent services keep the connection to the remote host active so that subsequent calls will happen faster. In general persistent services are discouraged, as they are not as robust to node failure as non-persistent services.
header_values	Key/value pairs you'd like to send along in the connection handshake

Definition at line 134 of file service.h.

createClient() [2/2]

template<class Service >

ServiceClient roswrap::service::createClient	(	const std::string &	service_name,
		bool	persistent = false,
		const M_string &	header_values = M_string()
	)

Create a client for a service.

When the last handle reference of a persistent connection is cleared, the connection will automatically close.

Parameters

service_name	The name of the service to connect to
persistent	Whether this connection should persist. Persistent services keep the connection to the remote host active so that subsequent calls will happen faster. In general persistent services are discouraged, as they are not as robust to node failure as non-persistent services.
header_values	Key/value pairs you'd like to send along in the connection handshake

Definition at line 152 of file service.h.

exists()

ROSCPP_DECL bool roswrap::service::exists	(	const std::string &	service_name,
		bool	print_failure_reason
	)

Checks if a service is both advertised and available.

Parameters

service_name	Name of the service to check for
print_failure_reason	Whether to print the reason for failure to the console (service not advertised vs. could not connect to the advertised host)

Returns

true if the service is up and available, false otherwise

waitForService() [1/2]

ROSCPP_DECL bool roswrap::service::waitForService	(	const std::string &	service_name,
		int32_t	timeout
	)

Wait for a service to be advertised and available. Blocks until it is.

Parameters

service_name	Name of the service to wait for.
timeout	The amount of time to wait for, in milliseconds. If timeout is -1, waits until the node is shutdown

Returns

true on success, false otherwise

waitForService() [2/2]

ROSCPP_DECL bool roswrap::service::waitForService	(	const std::string &	service_name,
		ros::Duration	timeout = ros::Duration(-1)
	)

Wait for a service to be advertised and available. Blocks until it is.

Parameters

service_name	Name of the service to wait for.
timeout	The amount of time to wait for before timing out. If timeout is -1 (default), waits until the node is shutdown

Returns

true on success, false otherwise