Inheritance diagram for rclcpp::Service< ServiceT >:

Collaboration diagram for rclcpp::Service< ServiceT >:

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Public Types
using	CallbackType = std::function< void(const std::shared_ptr< typename ServiceT::Request >, std::shared_ptr< typename ServiceT::Response >)>

using	CallbackWithHeaderType = std::function< void(const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< typename ServiceT::Request >, std::shared_ptr< typename ServiceT::Response >)>

Public Member Functions
	Service (std::shared_ptr< rcl_node_t > node_handle, const std::string &service_name, AnyServiceCallback< ServiceT > any_callback, rcl_service_options_t &service_options)
	Default constructor. More...

	Service (std::shared_ptr< rcl_node_t > node_handle, std::shared_ptr< rcl_service_t > service_handle, AnyServiceCallback< ServiceT > any_callback)
	Default constructor. More...

	Service (std::shared_ptr< rcl_node_t > node_handle, rcl_service_t *service_handle, AnyServiceCallback< ServiceT > any_callback)
	Default constructor. More...

bool	take_request (typename ServiceT::Request &request_out, rmw_request_id_t &request_id_out)
	Take the next request from the service. More...

std::shared_ptr< void >	create_request () override

std::shared_ptr< rmw_request_id_t >	create_request_header () override

void	handle_request (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > request) override

void	send_response (rmw_request_id_t &req_id, typename ServiceT::Response &response)

void	configure_introspection (Clock::SharedPtr clock, const QoS &qos_service_event_pub, rcl_service_introspection_state_t introspection_state)
	Configure service introspection. More...

Public Member Functions inherited from rclcpp::ServiceBase
RCLCPP_PUBLIC	ServiceBase (std::shared_ptr< rcl_node_t > node_handle)

RCLCPP_PUBLIC const char *	get_service_name ()
	Return the name of the service. More...

RCLCPP_PUBLIC std::shared_ptr< rcl_service_t >	get_service_handle ()
	Return the rcl_service_t service handle in a std::shared_ptr. More...

RCLCPP_PUBLIC std::shared_ptr< const rcl_service_t >	get_service_handle () const
	Return the rcl_service_t service handle in a std::shared_ptr. More...

RCLCPP_PUBLIC bool	take_type_erased_request (void *request_out, rmw_request_id_t &request_id_out)
	Take the next request from the service as a type erased pointer. More...

RCLCPP_PUBLIC bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this service. More...

RCLCPP_PUBLIC rclcpp::QoS	get_response_publisher_actual_qos () const
	Get the actual response publisher QoS settings, after the defaults have been determined. More...

RCLCPP_PUBLIC rclcpp::QoS	get_request_subscription_actual_qos () const
	Get the actual request subscription QoS settings, after the defaults have been determined. More...

void	set_on_new_request_callback (std::function< void(size_t)> callback)
	Set a callback to be called when each new request is received. More...

void	clear_on_new_request_callback ()
	Unset the callback registered for new requests, if any.

Additional Inherited Members
Protected Member Functions inherited from rclcpp::ServiceBase
RCLCPP_PUBLIC rcl_node_t *	get_rcl_node_handle ()

RCLCPP_PUBLIC const rcl_node_t *	get_rcl_node_handle () const

RCLCPP_PUBLIC void	set_on_new_request_callback (rcl_event_callback_t callback, const void *user_data)

Protected Attributes inherited from rclcpp::ServiceBase
std::shared_ptr< rcl_node_t >	node_handle_

std::recursive_mutex	callback_mutex_

std::function< void(size_t)>	on_new_request_callback_ {nullptr}

std::shared_ptr< rcl_service_t >	service_handle_

bool	owns_rcl_handle_ = true

rclcpp::Logger	node_logger_

std::atomic< bool >	in_use_by_wait_set_ {false}

Detailed Description

template<typename ServiceT>
class rclcpp::Service< ServiceT >

Definition at line 284 of file service.hpp.

Constructor & Destructor Documentation

◆ Service() [1/3]

template<typename ServiceT >

rclcpp::Service< ServiceT >::Service	(	std::shared_ptr< rcl_node_t >	node_handle,
		const std::string &	service_name,
		AnyServiceCallback< ServiceT >	any_callback,
		rcl_service_options_t &	service_options
	)

inline

Default constructor.

The constructor for a Service is almost never called directly. Instead, services should be instantiated through the function rclcpp::create_service().

Parameters

[in]	node_handle	NodeBaseInterface pointer that is used in part of the setup.
[in]	service_name	Name of the topic to publish to.
[in]	any_callback	User defined callback to call when a client request is received.
[in]	service_options	options for the subscription.

Definition at line 312 of file service.hpp.

References rclcpp::expand_topic_or_service_name(), rclcpp::ServiceBase::get_service_handle(), rcl_get_zero_initialized_service(), rcl_node_get_name(), rcl_node_get_namespace(), RCL_RET_OK, RCL_RET_SERVICE_NAME_INVALID, rcl_service_fini(), and rcl_service_init().

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◆ Service() [2/3]

template<typename ServiceT >

rclcpp::Service< ServiceT >::Service	(	std::shared_ptr< rcl_node_t >	node_handle,
		std::shared_ptr< rcl_service_t >	service_handle,
		AnyServiceCallback< ServiceT >	any_callback
	)

inline

Default constructor.

The constructor for a Service is almost never called directly. Instead, services should be instantiated through the function rclcpp::create_service().

Parameters

[in]	node_handle	NodeBaseInterface pointer that is used in part of the setup.
[in]	service_handle	service handle.
[in]	any_callback	User defined callback to call when a client request is received.

Definition at line 374 of file service.hpp.

References rclcpp::ServiceBase::get_service_handle(), and rcl_service_is_valid().

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◆ Service() [3/3]

template<typename ServiceT >

rclcpp::Service< ServiceT >::Service	(	std::shared_ptr< rcl_node_t >	node_handle,
		rcl_service_t *	service_handle,
		AnyServiceCallback< ServiceT >	any_callback
	)

inline

Default constructor.

The constructor for a Service is almost never called directly. Instead, services should be instantiated through the function rclcpp::create_service().

Parameters

[in]	node_handle	NodeBaseInterface pointer that is used in part of the setup.
[in]	service_handle	service handle.
[in]	any_callback	User defined callback to call when a client request is received.

Definition at line 409 of file service.hpp.

References rclcpp::ServiceBase::get_service_handle(), rcl_service_s::impl, and rcl_service_is_valid().

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Member Function Documentation

◆ configure_introspection()

template<typename ServiceT >

void rclcpp::Service< ServiceT >::configure_introspection	(	Clock::SharedPtr	clock,
		const QoS &	qos_service_event_pub,
		rcl_service_introspection_state_t	introspection_state
	)

inline

Configure service introspection.

Parameters

[in]	clock	clock to use to generate introspection timestamps
[in]	qos_service_event_pub	QoS settings to use when creating the introspection publisher
[in]	introspection_state	the state to set introspection to

Definition at line 509 of file service.hpp.

References rclcpp::QoS::get_rmw_qos_profile(), rcl_publisher_options_s::qos, rcl_publisher_get_default_options(), RCL_RET_OK, and rcl_service_configure_service_introspection().

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◆ take_request()

template<typename ServiceT >

bool rclcpp::Service< ServiceT >::take_request	(	typename ServiceT::Request &	request_out,
		rmw_request_id_t &	request_id_out
	)

inline

Take the next request from the service.

See also: ServiceBase::take_type_erased_request().

Parameters

[out]	request_out	The reference to a service request object into which the middleware will copy the taken request.
[out]	request_id_out	The output id for the request which can be used to associate response with this request in the future.

Returns: true if the request was taken, otherwise false.

Exceptions

rclcpp::exceptions::RCLError based exceptions if the underlying rcl calls fail.

Definition at line 455 of file service.hpp.

References rclcpp::ServiceBase::take_type_erased_request().

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The documentation for this class was generated from the following files:

rclcpp/include/rclcpp/any_service_callback.hpp
rclcpp/include/rclcpp/service.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename ServiceT> class rclcpp::Service< ServiceT >

Constructor & Destructor Documentation

◆ Service() [1/3]

◆ Service() [2/3]

◆ Service() [3/3]

Member Function Documentation

◆ configure_introspection()

◆ take_request()

template<typename ServiceT>
class rclcpp::Service< ServiceT >