A simple wrapper on ROS2 services client. More...

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

Collaboration diagram for nav2_util::ServiceClient< ServiceT, NodeT >:

Public Types
using	RequestType = typename ServiceT::Request

using	ResponseType = typename ServiceT::Response

using	SharedPtr = std::shared_ptr< ServiceClient< ServiceT, NodeT > >

Public Member Functions
	ServiceClient (const std::string &service_name, const NodeT &provided_node, bool use_internal_executor=false)
	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...

std::shared_future< typename ResponseType::SharedPtr >	async_call (typename RequestType::SharedPtr &request)
	Asynchronously call the service. More...

template<typename CallbackT >
void	async_call (typename RequestType::SharedPtr request, CallbackT &&callback)
	Asynchronously call the service with a callback. More...

bool	wait_for_service (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds::max())
	Block until a service is available or timeout. More...

template<typename FutureT >
rclcpp::FutureReturnCode	spin_until_complete (const FutureT &future, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Spins the executor until the provided future is complete or the timeout is reached. More...

std::string	getServiceName ()
	Gets the service name. More...

Protected Attributes
std::string	service_name_

NodeT	node_

rclcpp::CallbackGroup::SharedPtr	callback_group_ {nullptr}

rclcpp::executors::SingleThreadedExecutor::SharedPtr	callback_group_executor_

rclcpp::Client< ServiceT >::SharedPtr	client_

bool	use_internal_executor_

Detailed Description

template<class ServiceT, typename NodeT = rclcpp::Node::SharedPtr>
class nav2_util::ServiceClient< ServiceT, NodeT >

A simple wrapper on ROS2 services client.

Definition at line 31 of file service_client.hpp.

Constructor & Destructor Documentation

◆ ServiceClient()

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

nav2_util::ServiceClient< ServiceT, NodeT >::ServiceClient	(	const std::string &	service_name,
		const NodeT &	provided_node,
		bool	use_internal_executor = `false`
	)

inlineexplicit

A constructor.

Parameters

service_name	name of the service to call
provided_node	Node to create the service client off of
use_internal_executor	Whether to create an internal executor or not

Definition at line 40 of file service_client.hpp.

Member Function Documentation

◆ async_call() [1/2]

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

std::shared_future<typename ResponseType::SharedPtr> nav2_util::ServiceClient< ServiceT, NodeT >::async_call ( typename RequestType::SharedPtr & request )

inline

Asynchronously call the service.

Parameters

request The request object to call the service using

Returns: std::shared_future<typename ResponseType::SharedPtr> The shared future of the service response

Definition at line 150 of file service_client.hpp.

◆ async_call() [2/2]

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

template<typename CallbackT >

void nav2_util::ServiceClient< ServiceT, NodeT >::async_call	(	typename RequestType::SharedPtr	request,
		CallbackT &&	callback
	)

inline

Asynchronously call the service with a callback.

Parameters

request	The request object to call the service using
callback	The callback to call when the service response is received

Definition at line 164 of file service_client.hpp.

◆ getServiceName()

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

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

inline

Gets the service name.

Returns: string Service name

Definition at line 202 of file service_client.hpp.

◆ invoke() [1/2]

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

ResponseType::SharedPtr nav2_util::ServiceClient< ServiceT, NodeT >::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 84 of file service_client.hpp.

References nav2_util::ServiceClient< ServiceT, NodeT >::spin_until_complete().

Referenced by nav2_lifecycle_manager::LifecycleManagerClient::callService(), and nav2_behavior_tree::IsPathValidCondition::tick().

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◆ invoke() [2/2]

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

bool nav2_util::ServiceClient< ServiceT, NodeT >::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 117 of file service_client.hpp.

References nav2_util::ServiceClient< ServiceT, NodeT >::spin_until_complete().

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◆ spin_until_complete()

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

template<typename FutureT >

rclcpp::FutureReturnCode nav2_util::ServiceClient< ServiceT, NodeT >::spin_until_complete	(	const FutureT &	future,
		const std::chrono::nanoseconds	timeout = `std::chrono::nanoseconds(-1)`
	)

inline

Spins the executor until the provided future is complete or the timeout is reached.

Parameters

future	The shared future to wait for completion.
timeout	The maximum time to wait for the future to complete. Default is -1 (no timeout).

Returns: rclcpp::FutureReturnCode indicating the result of the spin operation.

Definition at line 187 of file service_client.hpp.

Referenced by nav2_util::ServiceClient< ServiceT, NodeT >::invoke().

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◆ wait_for_service()

template<class ServiceT , typename NodeT = rclcpp::Node::SharedPtr>

bool nav2_util::ServiceClient< ServiceT, NodeT >::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 174 of file service_client.hpp.

Referenced by nav2_lifecycle_manager::LifecycleManagerClient::callService(), and nav2_lifecycle_manager::LifecycleManagerClient::is_active().

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

nav2_util/include/nav2_util/service_client.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<class ServiceT, typename NodeT = rclcpp::Node::SharedPtr> class nav2_util::ServiceClient< ServiceT, NodeT >

Constructor & Destructor Documentation

◆ ServiceClient()

Member Function Documentation

◆ async_call() [1/2]

◆ async_call() [2/2]

◆ getServiceName()

◆ invoke() [1/2]

◆ invoke() [2/2]

◆ spin_until_complete()

◆ wait_for_service()

template<class ServiceT, typename NodeT = rclcpp::Node::SharedPtr>
class nav2_util::ServiceClient< ServiceT, NodeT >