Template Function rclcpp::create_client

• Defined in File create_client.hpp

Function Documentation

template<typename ServiceT>
rclcpp::Client<ServiceT>::SharedPtr rclcpp::create_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 rclcpp::QoS &qos = rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr group = nullptr)

Create a service client with a 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.

• 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.