nav2_util::ServiceClient< ServiceT > Class Template Reference

A simple wrapper on ROS2 services for invoke() and block-style calling. More...

#include <nav2_util/include/nav2_util/service_client.hpp>

Collaboration diagram for nav2_util::ServiceClient< ServiceT >:

Public Types
using	RequestType = typename ServiceT::Request
using	ResponseType = typename ServiceT::Response

Public Member Functions
	ServiceClient (const std::string &service_name, const rclcpp::Node::SharedPtr &provided_node)
	A constructor. More...
ResponseType::SharedPtr	invoke (typename RequestType::SharedPtr &request, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Invoke the service and block until completed or timed out. More...
bool	invoke (typename RequestType::SharedPtr &request, typename ResponseType::SharedPtr &response)
	Invoke the service and block until completed. More...
bool	wait_for_service (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds::max())
	Block until a service is available or timeout. More...
std::string	getServiceName ()
	Gets the service name. More...

Protected Attributes
std::string	service_name_
rclcpp::Node::SharedPtr	node_
rclcpp::CallbackGroup::SharedPtr	callback_group_
rclcpp::executors::SingleThreadedExecutor	callback_group_executor_
rclcpp::Client< ServiceT >::SharedPtr	client_

Detailed Description

template<class ServiceT>
class nav2_util::ServiceClient< ServiceT >

A simple wrapper on ROS2 services for invoke() and block-style calling.

Definition at line 30 of file service_client.hpp.

Constructor & Destructor Documentation

ServiceClient()

template<class ServiceT >

nav2_util::ServiceClient< ServiceT >::ServiceClient ( const std::string &  service_name, const rclcpp::Node::SharedPtr &  provided_node  )

inlineexplicit

A constructor.

Parameters

service_name	name of the service to call
provided_node	Node to create the service client off of

Definition at line 38 of file service_client.hpp.

Member Function Documentation

getServiceName()

template<class ServiceT >

std::string nav2_util::ServiceClient< ServiceT >::getServiceName ( )

inline

Gets the service name.

Returns

string Service name

Definition at line 143 of file service_client.hpp.

invoke() [1/2]

template<class ServiceT >

ResponseType::SharedPtr nav2_util::ServiceClient< ServiceT >::invoke ( typename RequestType::SharedPtr &  request, const std::chrono::nanoseconds  timeout = std::chrono::nanoseconds(-1)  )

inline

Invoke the service and block until completed or timed out.

Parameters

request	The request object to call the service using
timeout	Maximum timeout to wait for, default infinite

Returns

Response A pointer to the service response from the request

Definition at line 62 of file service_client.hpp.

invoke() [2/2]

template<class ServiceT >

bool nav2_util::ServiceClient< ServiceT >::invoke ( typename RequestType::SharedPtr &  request, typename ResponseType::SharedPtr &  response  )

inline

Invoke the service and block until completed.

Parameters

request	The request object to call the service using
Response	A pointer to the service response from the request

Returns

bool Whether it was successfully called

Definition at line 98 of file service_client.hpp.

wait_for_service()

template<class ServiceT >

bool nav2_util::ServiceClient< ServiceT >::wait_for_service ( const std::chrono::nanoseconds  timeout = std::chrono::nanoseconds::max() )

inline

Block until a service is available or timeout.

Parameters

timeout

Maximum timeout to wait for, default infinite

Returns

bool true if service is available

Definition at line 134 of file service_client.hpp.

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

• nav2_util/include/nav2_util/service_client.hpp