nav2_util::ServiceServer< ServiceT, NodeT > Class Template Reference

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

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

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

Public Types
using	RequestType = typename ServiceT::Request
using	ResponseType = typename ServiceT::Response
using	CallbackType = std::function< void(const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< RequestType >, std::shared_ptr< ResponseType >)>
using	SharedPtr = std::shared_ptr< ServiceServer< ServiceT, NodeT > >

Public Member Functions
	ServiceServer (const std::string &service_name, const NodeT &node, CallbackType callback, const rclcpp::QoS &qos=rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)

Protected Attributes
std::string	service_name_
CallbackType	callback_
rclcpp::Service< ServiceT >::SharedPtr	server_

Detailed Description

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

A simple wrapper on ROS2 services server.

Definition at line 31 of file service_server.hpp.

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

• nav2_util/include/nav2_util/service_server.hpp