lifecycle_service_client.hpp

// Copyright (c) 2019 Intel 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 NAV2_UTIL__LIFECYCLE_SERVICE_CLIENT_HPP_
#define NAV2_UTIL__LIFECYCLE_SERVICE_CLIENT_HPP_
 
#include <chrono>
#include <memory>
#include <string>
 
#include "lifecycle_msgs/srv/change_state.hpp"
#include "lifecycle_msgs/srv/get_state.hpp"
#include "nav2_util/service_client.hpp"
#include "nav2_util/node_utils.hpp"
 
 
namespace nav2_util
{
 
class LifecycleServiceClient
{
public:
  explicit LifecycleServiceClient(
    const std::string & lifecycle_node_name);
  LifecycleServiceClient(
    const std::string & lifecycle_node_name,
    rclcpp::Node::SharedPtr parent_node);
 
 
  bool change_state(
    const uint8_t transition,  // takes a lifecycle_msgs::msg::Transition id
    const std::chrono::milliseconds transition_timeout = std::chrono::milliseconds(-1),
    const std::chrono::milliseconds wait_for_service_timeout = std::chrono::milliseconds(5000));
 
 
  uint8_t get_state(const std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
 
protected:
  rclcpp::Node::SharedPtr node_;
  ServiceClient<lifecycle_msgs::srv::ChangeState> change_state_;
  ServiceClient<lifecycle_msgs::srv::GetState> get_state_;
};
 
}  // namespace nav2_util
 
#endif  // NAV2_UTIL__LIFECYCLE_SERVICE_CLIENT_HPP_