rclcpp::Client< ServiceT > Class Template Reference

#include <client.hpp>

Inheritance diagram for rclcpp::Client< ServiceT >:

Public Types
using	SharedRequest = typename ServiceT::Request::SharedPtr
using	SharedResponse = typename ServiceT::Response::SharedPtr
using	Promise = std::promise< SharedResponse >
using	PromiseWithRequest = std::promise< std::pair< SharedRequest, SharedResponse > >
using	SharedPromise = std::shared_ptr< Promise >
using	SharedPromiseWithRequest = std::shared_ptr< PromiseWithRequest >
using	SharedFuture = std::shared_future< SharedResponse >
using	SharedFutureWithRequest = std::shared_future< std::pair< SharedRequest, SharedResponse > >
using	CallbackType = std::function< void(SharedFuture)>
using	CallbackWithRequestType = std::function< void(SharedFutureWithRequest)>

Public Member Functions
	Client (rclcpp::node_interfaces::NodeBaseInterface *node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, const std::string &service_name, rcl_client_options_t &client_options)
virtual	~Client ()
std::shared_ptr< void >	create_response ()
std::shared_ptr< rmw_request_id_t >	create_request_header ()
void	handle_response (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > response)
SharedFuture	async_send_request (SharedRequest request)
template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackType >::value >::type * = nullptr>
SharedFuture	async_send_request (SharedRequest request, CallbackT &&cb)
template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackWithRequestType >::value >::type * = nullptr>
SharedFutureWithRequest	async_send_request (SharedRequest request, CallbackT &&cb)
Public Member Functions inherited from rclcpp::ClientBase
	ClientBase (rclcpp::node_interfaces::NodeBaseInterface *node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, const std::string &service_name)
virtual	~ClientBase ()
const std::string &	get_service_name () const
rcl_client_t *	get_client_handle ()
const rcl_client_t *	get_client_handle () const
bool	service_is_ready () const
template<typename RatioT = std::milli>
bool	wait_for_service (std::chrono::duration< int64_t, RatioT > timeout=std::chrono::duration< int64_t, RatioT >(-1))

Additional Inherited Members
Protected Member Functions inherited from rclcpp::ClientBase
bool	wait_for_service_nanoseconds (std::chrono::nanoseconds timeout)
rcl_node_t *	get_rcl_node_handle ()
const rcl_node_t *	get_rcl_node_handle () const
Protected Attributes inherited from rclcpp::ClientBase
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr	node_graph_
std::shared_ptr< rcl_node_t >	node_handle_
rcl_client_t	client_handle_ = rcl_get_zero_initialized_client()
std::string	service_name_

Member Typedef Documentation

SharedRequest

template<typename ServiceT>

using rclcpp::Client< ServiceT >::SharedRequest = typename ServiceT::Request::SharedPtr

SharedResponse

template<typename ServiceT>

using rclcpp::Client< ServiceT >::SharedResponse = typename ServiceT::Response::SharedPtr

Promise

template<typename ServiceT>

using rclcpp::Client< ServiceT >::Promise = std::promise<SharedResponse>

PromiseWithRequest

template<typename ServiceT>

using rclcpp::Client< ServiceT >::PromiseWithRequest = std::promise<std::pair<SharedRequest, SharedResponse> >

SharedPromise

template<typename ServiceT>

using rclcpp::Client< ServiceT >::SharedPromise = std::shared_ptr<Promise>

SharedPromiseWithRequest

template<typename ServiceT>

using rclcpp::Client< ServiceT >::SharedPromiseWithRequest = std::shared_ptr<PromiseWithRequest>

SharedFuture

template<typename ServiceT>

using rclcpp::Client< ServiceT >::SharedFuture = std::shared_future<SharedResponse>

SharedFutureWithRequest

template<typename ServiceT>

using rclcpp::Client< ServiceT >::SharedFutureWithRequest = std::shared_future<std::pair<SharedRequest, SharedResponse> >

CallbackType

template<typename ServiceT>

using rclcpp::Client< ServiceT >::CallbackType = std::function<void(SharedFuture)>

CallbackWithRequestType

template<typename ServiceT>

using rclcpp::Client< ServiceT >::CallbackWithRequestType = std::function<void(SharedFutureWithRequest)>

Constructor & Destructor Documentation

Client()

template<typename ServiceT>

rclcpp::Client< ServiceT >::Client ( rclcpp::node_interfaces::NodeBaseInterface *  node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr  node_graph, const std::string &  service_name, rcl_client_options_t &  client_options  )

inline

~Client()

template<typename ServiceT>

virtual rclcpp::Client< ServiceT >::~Client ( )

inlinevirtual

Member Function Documentation

create_response()

template<typename ServiceT>

std::shared_ptr<void> rclcpp::Client< ServiceT >::create_response ( )

inlinevirtual

Implements rclcpp::ClientBase.

create_request_header()

template<typename ServiceT>

std::shared_ptr<rmw_request_id_t> rclcpp::Client< ServiceT >::create_request_header ( )

inlinevirtual

Implements rclcpp::ClientBase.

handle_response()

template<typename ServiceT>

void rclcpp::Client< ServiceT >::handle_response ( std::shared_ptr< rmw_request_id_t >  request_header, std::shared_ptr< void >  response  )

inlinevirtual

Implements rclcpp::ClientBase.

async_send_request() [1/3]

template<typename ServiceT>

SharedFuture rclcpp::Client< ServiceT >::async_send_request ( SharedRequest  request )

inline

async_send_request() [2/3]

template<typename ServiceT>

template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackType >::value >::type * = nullptr>

SharedFuture rclcpp::Client< ServiceT >::async_send_request ( SharedRequest  request, CallbackT &&  cb  )

inline

async_send_request() [3/3]

template<typename ServiceT>

template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackWithRequestType >::value >::type * = nullptr>

SharedFutureWithRequest rclcpp::Client< ServiceT >::async_send_request ( SharedRequest  request, CallbackT &&  cb  )

inline

---

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

• rclcpp/client.hpp