create_generic_client.cpp

// Copyright 2023 Sony Group Corporation.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "rclcpp/create_generic_client.hpp"
#include "rclcpp/generic_client.hpp"
 
namespace rclcpp
{
rclcpp::GenericClient::SharedPtr
create_generic_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 std::string & service_type,
  const rclcpp::QoS & qos,
  rclcpp::CallbackGroup::SharedPtr group)
{
  rcl_client_options_t options = rcl_client_get_default_options();
  options.qos = qos.get_rmw_qos_profile();
 
  auto cli = rclcpp::GenericClient::make_shared(
    node_base.get(),
    node_graph,
    service_name,
    service_type,
    options);
 
  auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli);
  node_services->add_client(cli_base_ptr, group);
  return cli;
}
}  // namespace rclcpp