rclcpp::Service< ServiceT > Class Template Reference

#include <service.hpp>

Inheritance diagram for rclcpp::Service< ServiceT >:

Public Types
using	CallbackType = std::function< void(const std::shared_ptr< typename ServiceT::Request >, std::shared_ptr< typename ServiceT::Response >)>
using	CallbackWithHeaderType = std::function< void(const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< typename ServiceT::Request >, std::shared_ptr< typename ServiceT::Response >)>

Public Member Functions
	Service (std::shared_ptr< rcl_node_t > node_handle, const std::string &service_name, AnyServiceCallback< ServiceT > any_callback, rcl_service_options_t &service_options)
	Service (std::shared_ptr< rcl_node_t > node_handle, rcl_service_t *service_handle, AnyServiceCallback< ServiceT > any_callback)
	Service ()=delete
virtual	~Service ()
std::shared_ptr< void >	create_request ()
std::shared_ptr< rmw_request_id_t >	create_request_header ()
void	handle_request (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > request)
void	send_response (std::shared_ptr< rmw_request_id_t > req_id, std::shared_ptr< typename ServiceT::Response > response)
Public Member Functions inherited from rclcpp::ServiceBase
	ServiceBase (std::shared_ptr< rcl_node_t > node_handle, const std::string &service_name)
	ServiceBase (std::shared_ptr< rcl_node_t > node_handle)
virtual	~ServiceBase ()
std::string	get_service_name ()
rcl_service_t *	get_service_handle ()
const rcl_service_t *	get_service_handle () const

Additional Inherited Members
Protected Member Functions inherited from rclcpp::ServiceBase
rcl_node_t *	get_rcl_node_handle ()
const rcl_node_t *	get_rcl_node_handle () const
Protected Attributes inherited from rclcpp::ServiceBase
std::shared_ptr< rcl_node_t >	node_handle_
rcl_service_t *	service_handle_ = nullptr
std::string	service_name_
bool	owns_rcl_handle_ = true

Member Typedef Documentation

CallbackType

template<typename ServiceT>

using rclcpp::Service< ServiceT >::CallbackType = std::function< void( const std::shared_ptr<typename ServiceT::Request>, std::shared_ptr<typename ServiceT::Response>)>

CallbackWithHeaderType

template<typename ServiceT>

using rclcpp::Service< ServiceT >::CallbackWithHeaderType = std::function< void( const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<typename ServiceT::Request>, std::shared_ptr<typename ServiceT::Response>)>

Constructor & Destructor Documentation

Service() [1/3]

template<typename ServiceT>

rclcpp::Service< ServiceT >::Service ( std::shared_ptr< rcl_node_t >  node_handle, const std::string &  service_name, AnyServiceCallback< ServiceT >  any_callback, rcl_service_options_t &  service_options  )

inline

Service() [2/3]

template<typename ServiceT>

rclcpp::Service< ServiceT >::Service ( std::shared_ptr< rcl_node_t >  node_handle, rcl_service_t *  service_handle, AnyServiceCallback< ServiceT >  any_callback  )

inline

Service() [3/3]

template<typename ServiceT>

rclcpp::Service< ServiceT >::Service ( )

delete

~Service()

template<typename ServiceT>

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

inlinevirtual

Member Function Documentation

create_request()

template<typename ServiceT>

std::shared_ptr<void> rclcpp::Service< ServiceT >::create_request ( )

inlinevirtual

Implements rclcpp::ServiceBase.

create_request_header()

template<typename ServiceT>

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

inlinevirtual

Implements rclcpp::ServiceBase.

handle_request()

template<typename ServiceT>

void rclcpp::Service< ServiceT >::handle_request ( std::shared_ptr< rmw_request_id_t >  request_header, std::shared_ptr< void >  request  )

inlinevirtual

Implements rclcpp::ServiceBase.

send_response()

template<typename ServiceT>

void rclcpp::Service< ServiceT >::send_response ( std::shared_ptr< rmw_request_id_t >  req_id, std::shared_ptr< typename ServiceT::Response >  response  )

inline

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

• rclcpp/service.hpp