#include <client.hpp>
◆ ClientBase()
◆ ~ClientBase()
virtual rclcpp::ClientBase::~ClientBase |
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◆ take_type_erased_response()
bool rclcpp::ClientBase::take_type_erased_response |
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void * |
response_out, |
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rmw_request_id_t & |
request_header_out |
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Take the next response for this client as a type erased pointer.
The type erased pointer allows for this method to be used in a type agnostic way along with ClientBase::create_response(), ClientBase::create_request_header(), and ClientBase::handle_response(). The typed version of this can be used if the Service type is known,
- See also
- Client::take_response().
- Parameters
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[out] | response_out | The type erased pointer to a Service Response into which the middleware will copy the response being taken. |
[out] | request_header_out | The request header to be filled by the middleware when taking, and which can be used to associte the response to a specific request. |
- Returns
- true if the response was taken, otherwise false.
- Exceptions
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◆ get_service_name()
const char* rclcpp::ClientBase::get_service_name |
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const |
Return the name of the service.
- Returns
- The name of the service.
◆ get_client_handle() [1/2]
Return the rcl_client_t client handle in a std::shared_ptr.
This handle remains valid after the Client is destroyed. The actual rcl client is not finalized until it is out of scope everywhere.
◆ get_client_handle() [2/2]
Return the rcl_client_t client handle in a std::shared_ptr.
This handle remains valid after the Client is destroyed. The actual rcl client is not finalized until it is out of scope everywhere.
◆ service_is_ready()
bool rclcpp::ClientBase::service_is_ready |
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const |
Return if the service is ready.
- Returns
true
if the service is ready, false
otherwise
◆ wait_for_service()
template<typename RepT = int64_t, typename RatioT = std::milli>
Wait for a service to be ready.
- Parameters
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timeout | maximum time to wait |
- Returns
true
if the service is ready and the timeout is not over, false
otherwise
◆ create_response()
◆ create_request_header()
◆ handle_response()
◆ exchange_in_use_by_wait_set_state()
bool rclcpp::ClientBase::exchange_in_use_by_wait_set_state |
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bool |
in_use_state | ) |
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Exchange the "in use by wait set" state for this client.
This is used to ensure this client is not used by multiple wait sets at the same time.
- Parameters
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[in] | in_use_state | the new state to exchange into the state, true indicates it is now in use by a wait set, and false is that it is no longer in use by a wait set. |
- Returns
- the previous state.
◆ wait_for_service_nanoseconds()
◆ get_rcl_node_handle() [1/2]
rcl_node_t* rclcpp::ClientBase::get_rcl_node_handle |
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◆ get_rcl_node_handle() [2/2]
const rcl_node_t* rclcpp::ClientBase::get_rcl_node_handle |
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const |
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◆ node_graph_
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr rclcpp::ClientBase::node_graph_ |
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◆ node_handle_
◆ context_
◆ client_handle_
◆ in_use_by_wait_set_
std::atomic<bool> rclcpp::ClientBase::in_use_by_wait_set_ {false} |
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protected |
The documentation for this class was generated from the following file: