Template Class ServiceState

Inheritance Relationships

Base Type

  • public yasmin::State

Class Documentation

template<typename ServiceT>
class ServiceState : public yasmin::State

A state class that interacts with a ROS 2 service.

This class manages communication with a specified ROS 2 service, allowing it to send requests and handle responses. It extends the base yasmin::State class.

Template Parameters:

ServiceT – The type of the ROS 2 service this state interacts with.

Public Functions

inline ServiceState(std::string srv_name, CreateRequestHandler create_request_handler, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3)

Construct a ServiceState with a request handler and outcomes.

Parameters:

  • srv_name – The name of the service to call.

  • create_request_handler – Function to create a service request.

  • wait_timeout – Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

  • response_timeout – Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).

  • maximum_retry – (Optional) Maximum retries of the service if it returns timeout. Default is 3.

inline ServiceState(std::string srv_name, CreateRequestHandler create_request_handler, std::set<std::string> outcomes, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3)

Construct a ServiceState with a request handler and outcomes.

Parameters:

  • srv_name – The name of the service to call.

  • create_request_handler – Function to create a service request.

  • outcomes – A set of possible outcomes for this state.

  • wait_timeout – Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

  • response_timeout – Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).

  • maximum_retry – (Optional) Maximum retries of the service if it returns timeout. Default is 3.

inline ServiceState(std::string srv_name, CreateRequestHandler create_request_handler, std::set<std::string> outcomes, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3)

Construct a ServiceState with a request handler and outcomes.

Parameters:

  • srv_name – The name of the service to call.

  • create_request_handler – Function to create a service request.

  • outcomes – A set of possible outcomes for this state.

  • callback_group – (Optional) The callback group for the subscription.

  • wait_timeout – Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

  • response_timeout – Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).

  • maximum_retry – (Optional) Maximum retries of the service if it returns timeout. Default is 3.

inline ServiceState(std::string srv_name, CreateRequestHandler create_request_handler, std::set<std::string> outcomes, ResponseHandler response_handler, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3)

Construct a ServiceState with a request handler and response handler.

Parameters:

  • srv_name – The name of the service to call.

  • create_request_handler – Function to create a service request.

  • outcomes – A set of possible outcomes for this state.

  • response_handler – (Optional) Function to handle the service response.

  • wait_timeout – Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

  • response_timeout – Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).

  • maximum_retry – (Optional) Maximum retries of the service if it returns timeout. Default is 3.

inline ServiceState(const rclcpp::Node::SharedPtr &node, std::string srv_name, CreateRequestHandler create_request_handler, std::set<std::string> outcomes, ResponseHandler response_handler, rclcpp::CallbackGroup::SharedPtr callback_group, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3)

Construct a ServiceState with a ROS 2 node and handlers.

Parameters:

  • node – A shared pointer to the ROS 2 node.

  • srv_name – The name of the service to call.

  • create_request_handler – Function to create a service request.

  • outcomes – A set of possible outcomes for this state.

  • response_handler – (Optional) Function to handle the service response.

  • callback_group – (Optional) The callback group for the subscription.

  • wait_timeout – Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).

  • response_timeout – Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).

  • maximum_retry – (Optional) Maximum retries of the service if it returns timeout. Default is 3.

Throws:

std::invalid_argument – if the create_request_handler is nullptr.

inline std::string execute(std::shared_ptr<yasmin::blackboard::Blackboard> blackboard) override

Execute the service call and handle the response.

This function creates a request based on the blackboard data, waits for the service to become available, sends the request, and processes the response.

Parameters:

blackboard – A shared pointer to the blackboard containing data for request creation.

Returns:

std::string The outcome of the service call, which can be SUCCEED, ABORT, or TIMEOUT.

Protected Attributes

rclcpp::Node::SharedPtr node_

Shared pointer to the ROS 2 node.