rclcpp::ClientBase Class Reference

#include <client.hpp>

Inheritance diagram for rclcpp::ClientBase:

Public Member Functions
	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))
virtual std::shared_ptr< void >	create_response ()=0
virtual std::shared_ptr< rmw_request_id_t >	create_request_header ()=0
virtual void	handle_response (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > response)=0

Protected Member Functions
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
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_

Constructor & Destructor Documentation

ClientBase()

rclcpp::ClientBase::ClientBase	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	node_graph,
		const std::string &	service_name
	)

~ClientBase()

virtual rclcpp::ClientBase::~ClientBase ( )

virtual

Member Function Documentation

get_service_name()

const std::string& rclcpp::ClientBase::get_service_name

(

)

const

get_client_handle() [1/2]

rcl_client_t* rclcpp::ClientBase::get_client_handle

(

)

get_client_handle() [2/2]

const rcl_client_t* rclcpp::ClientBase::get_client_handle

(

)

const

service_is_ready()

bool rclcpp::ClientBase::service_is_ready

(

)

const

wait_for_service()

template<typename RatioT = std::milli>

bool rclcpp::ClientBase::wait_for_service ( std::chrono::duration< int64_t, RatioT >  timeout = std::chrono::duration<int64_t, RatioT>(-1) )

inline

create_response()

virtual std::shared_ptr<void> rclcpp::ClientBase::create_response ( )

pure virtual

Implemented in rclcpp::Client< ServiceT >, rclcpp::Client< rcl_interfaces::srv::DescribeParameters >, rclcpp::Client< rcl_interfaces::srv::GetParameterTypes >, rclcpp::Client< rcl_interfaces::srv::ListParameters >, rclcpp::Client< rcl_interfaces::srv::SetParameters >, rclcpp::Client< rcl_interfaces::srv::SetParametersAtomically >, and rclcpp::Client< rcl_interfaces::srv::GetParameters >.

create_request_header()

virtual std::shared_ptr<rmw_request_id_t> rclcpp::ClientBase::create_request_header ( )

pure virtual

Implemented in rclcpp::Client< ServiceT >, rclcpp::Client< rcl_interfaces::srv::DescribeParameters >, rclcpp::Client< rcl_interfaces::srv::GetParameterTypes >, rclcpp::Client< rcl_interfaces::srv::ListParameters >, rclcpp::Client< rcl_interfaces::srv::SetParameters >, rclcpp::Client< rcl_interfaces::srv::SetParametersAtomically >, and rclcpp::Client< rcl_interfaces::srv::GetParameters >.

handle_response()

virtual void rclcpp::ClientBase::handle_response ( std::shared_ptr< rmw_request_id_t >  request_header, std::shared_ptr< void >  response  )

pure virtual

Implemented in rclcpp::Client< ServiceT >, rclcpp::Client< rcl_interfaces::srv::DescribeParameters >, rclcpp::Client< rcl_interfaces::srv::GetParameterTypes >, rclcpp::Client< rcl_interfaces::srv::ListParameters >, rclcpp::Client< rcl_interfaces::srv::SetParameters >, rclcpp::Client< rcl_interfaces::srv::SetParametersAtomically >, and rclcpp::Client< rcl_interfaces::srv::GetParameters >.

wait_for_service_nanoseconds()

bool rclcpp::ClientBase::wait_for_service_nanoseconds ( std::chrono::nanoseconds  timeout )

protected

get_rcl_node_handle() [1/2]

rcl_node_t* rclcpp::ClientBase::get_rcl_node_handle ( )

protected

get_rcl_node_handle() [2/2]

const rcl_node_t* rclcpp::ClientBase::get_rcl_node_handle ( ) const

protected

Member Data Documentation

node_graph_

rclcpp::node_interfaces::NodeGraphInterface::WeakPtr rclcpp::ClientBase::node_graph_

protected

node_handle_

std::shared_ptr<rcl_node_t> rclcpp::ClientBase::node_handle_

protected

client_handle_

rcl_client_t rclcpp::ClientBase::client_handle_ = rcl_get_zero_initialized_client()

protected

service_name_

std::string rclcpp::ClientBase::service_name_

protected

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

• rclcpp/client.hpp