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C++ ROS Client Library API
node_services.hpp
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1 // Copyright 2016 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
17 
19 #include "rclcpp/client.hpp"
20 #include "rclcpp/macros.hpp"
23 #include "rclcpp/service.hpp"
25 
26 namespace rclcpp
27 {
28 namespace node_interfaces
29 {
30 
33 {
34 public:
36 
39 
41  virtual
42  ~NodeServices();
43 
45  virtual
46  void
47  add_client(
48  rclcpp::client::ClientBase::SharedPtr client_base_ptr,
49  rclcpp::callback_group::CallbackGroup::SharedPtr group);
50 
52  virtual
53  void
55  rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
56  rclcpp::callback_group::CallbackGroup::SharedPtr group);
57 
58 private:
59  RCLCPP_DISABLE_COPY(NodeServices)
60 
62 };
63 
64 } // namespace node_interfaces
65 } // namespace rclcpp
66 
67 #endif // RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
NodeServices(rclcpp::node_interfaces::NodeBaseInterface *node_base)
Definition: allocator_common.hpp:24
Implementation of the NodeServices part of the Node API.
Definition: node_services.hpp:32
virtual void add_service(rclcpp::service::ServiceBase::SharedPtr service_base_ptr, rclcpp::callback_group::CallbackGroup::SharedPtr group)
Pure virtual interface class for the NodeServices part of the Node API.
Definition: node_services_interface.hpp:30
Pure virtual interface class for the NodeBase part of the Node API.
Definition: node_base_interface.hpp:36
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
virtual void add_client(rclcpp::client::ClientBase::SharedPtr client_base_ptr, rclcpp::callback_group::CallbackGroup::SharedPtr group)