rclcpp::service::ServiceBase Class Reference

#include <service.hpp>

Inheritance diagram for rclcpp::service::ServiceBase:

Public Member Functions
	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 ()
const rcl_service_t *	get_service_handle ()
virtual std::shared_ptr< void >	create_request ()=0
virtual std::shared_ptr< rmw_request_id_t >	create_request_header ()=0
virtual void	handle_request (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > request)=0

Protected Attributes
std::shared_ptr< rcl_node_t >	node_handle_
rcl_service_t *	service_handle_ = nullptr
std::string	service_name_
bool	owns_rcl_handle_ = true

Constructor & Destructor Documentation

ServiceBase() [1/2]

rclcpp::service::ServiceBase::ServiceBase	(	std::shared_ptr< rcl_node_t >	node_handle,
		const std::string &	service_name
	)

ServiceBase() [2/2]

rclcpp::service::ServiceBase::ServiceBase ( std::shared_ptr< rcl_node_t >  node_handle )

explicit

~ServiceBase()

virtual rclcpp::service::ServiceBase::~ServiceBase ( )

virtual

Member Function Documentation

get_service_name()

std::string rclcpp::service::ServiceBase::get_service_name

(

)

get_service_handle()

const rcl_service_t* rclcpp::service::ServiceBase::get_service_handle

(

)

create_request()

virtual std::shared_ptr<void> rclcpp::service::ServiceBase::create_request ( )

pure virtual

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

create_request_header()

virtual std::shared_ptr<rmw_request_id_t> rclcpp::service::ServiceBase::create_request_header ( )

pure virtual

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

handle_request()

virtual void rclcpp::service::ServiceBase::handle_request ( std::shared_ptr< rmw_request_id_t >  request_header, std::shared_ptr< void >  request  )

pure virtual

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

Member Data Documentation

node_handle_

std::shared_ptr<rcl_node_t> rclcpp::service::ServiceBase::node_handle_

protected

service_handle_

rcl_service_t* rclcpp::service::ServiceBase::service_handle_ = nullptr

protected

service_name_

std::string rclcpp::service::ServiceBase::service_name_

protected

owns_rcl_handle_

bool rclcpp::service::ServiceBase::owns_rcl_handle_ = true

protected

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

• include/rclcpp/service.hpp