create_generic_client.hpp

// 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.
 
#ifndef RCLCPP__CREATE_GENERIC_CLIENT_HPP_
#define RCLCPP__CREATE_GENERIC_CLIENT_HPP_
 
#include <memory>
#include <string>
 
#include "rclcpp/generic_client.hpp"
#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
#include "rclcpp/node_interfaces/get_node_graph_interface.hpp"
#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/qos.hpp"
 
namespace rclcpp
{
 
RCLCPP_PUBLIC
rclcpp::GenericClient::SharedPtr
create_generic_client(
  const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,
  const std::shared_ptr<node_interfaces::NodeGraphInterface> & node_graph,
  const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,
  const std::string & service_name,
  const std::string & service_type,
  const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
  const rclcpp::CallbackGroup::SharedPtr & group = rclcpp::CallbackGroup::SharedPtr());
 
 
template<typename NodeT>
rclcpp::GenericClient::SharedPtr
create_generic_client(
  NodeT node,
  const std::string & service_name,
  const std::string & service_type,
  const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
  rclcpp::CallbackGroup::SharedPtr group = nullptr)
{
  return create_generic_client(
    rclcpp::node_interfaces::get_node_base_interface(node),
    rclcpp::node_interfaces::get_node_graph_interface(node),
    rclcpp::node_interfaces::get_node_services_interface(node),
    service_name,
    service_type,
    qos,
    group
  );
}
}  // namespace rclcpp
 
#endif  // RCLCPP__CREATE_GENERIC_CLIENT_HPP_