#include <client.hpp>

Inheritance diagram for rclcpp::Client< ServiceT >:

Collaboration diagram for rclcpp::Client< ServiceT >:

[legend]

Public Types
using	SharedRequest = typename ServiceT::Request::SharedPtr

using	SharedResponse = typename ServiceT::Response::SharedPtr

using	Promise = std::promise< SharedResponse >

using	PromiseWithRequest = std::promise< std::pair< SharedRequest, SharedResponse > >

using	SharedPromise = std::shared_ptr< Promise >

using	SharedPromiseWithRequest = std::shared_ptr< PromiseWithRequest >

using	SharedFuture = std::shared_future< SharedResponse >

using	SharedFutureWithRequest = std::shared_future< std::pair< SharedRequest, SharedResponse > >

using	CallbackType = std::function< void(SharedFuture)>

using	CallbackWithRequestType = std::function< void(SharedFutureWithRequest)>

Public Member Functions
	Client (rclcpp::node_interfaces::NodeBaseInterface *node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, const std::string &service_name, rcl_client_options_t &client_options)
	Default constructor. More...

virtual	~Client ()

bool	take_response (typename ServiceT::Response &response_out, rmw_request_id_t &request_header_out)
	Take the next response for this client. More...

std::shared_ptr< void >	create_response () override
	Create a shared pointer with the response type. More...

std::shared_ptr< rmw_request_id_t >	create_request_header () override
	Create a shared pointer with a rmw_request_id_t. More...

void	handle_response (std::shared_ptr< rmw_request_id_t > request_header, std::shared_ptr< void > response) override
	Handle a server response. More...

SharedFuture	async_send_request (SharedRequest request)

template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackType >::value >::type * = nullptr>
SharedFuture	async_send_request (SharedRequest request, CallbackT &&cb)

template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackWithRequestType >::value >::type * = nullptr>
SharedFutureWithRequest	async_send_request (SharedRequest request, CallbackT &&cb)

Public Member Functions inherited from rclcpp::ClientBase
	ClientBase (rclcpp::node_interfaces::NodeBaseInterface *node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph)

virtual	~ClientBase ()

bool	take_type_erased_response (void *response_out, rmw_request_id_t &request_header_out)
	Take the next response for this client as a type erased pointer. More...

const char *	get_service_name () const
	Return the name of the service. More...

std::shared_ptr< rcl_client_t >	get_client_handle ()
	Return the rcl_client_t client handle in a std::shared_ptr. More...

std::shared_ptr< const rcl_client_t >	get_client_handle () const
	Return the rcl_client_t client handle in a std::shared_ptr. More...

bool	service_is_ready () const
	Return if the service is ready. More...

template<typename RepT = int64_t, typename RatioT = std::milli>
bool	wait_for_service (std::chrono::duration< RepT, RatioT > timeout=std::chrono::duration< RepT, RatioT >(-1))
	Wait for a service to be ready. More...

bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this client. More...

Additional Inherited Members
Protected Member Functions inherited from rclcpp::ClientBase
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 inherited from rclcpp::ClientBase
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr	node_graph_

std::shared_ptr< rcl_node_t >	node_handle_

std::shared_ptr< rclcpp::Context >	context_

std::shared_ptr< rcl_client_t >	client_handle_

std::atomic< bool >	in_use_by_wait_set_ {false}

Member Typedef Documentation

◆ SharedRequest

template<typename ServiceT >

using rclcpp::Client< ServiceT >::SharedRequest = typename ServiceT::Request::SharedPtr

◆ SharedResponse

template<typename ServiceT >

using rclcpp::Client< ServiceT >::SharedResponse = typename ServiceT::Response::SharedPtr

◆ Promise

template<typename ServiceT >

using rclcpp::Client< ServiceT >::Promise = std::promise<SharedResponse>

◆ PromiseWithRequest

template<typename ServiceT >

using rclcpp::Client< ServiceT >::PromiseWithRequest = std::promise<std::pair<SharedRequest, SharedResponse> >

◆ SharedPromise

template<typename ServiceT >

using rclcpp::Client< ServiceT >::SharedPromise = std::shared_ptr<Promise>

◆ SharedPromiseWithRequest

template<typename ServiceT >

using rclcpp::Client< ServiceT >::SharedPromiseWithRequest = std::shared_ptr<PromiseWithRequest>

◆ SharedFuture

template<typename ServiceT >

using rclcpp::Client< ServiceT >::SharedFuture = std::shared_future<SharedResponse>

◆ SharedFutureWithRequest

template<typename ServiceT >

using rclcpp::Client< ServiceT >::SharedFutureWithRequest = std::shared_future<std::pair<SharedRequest, SharedResponse> >

◆ CallbackType

template<typename ServiceT >

using rclcpp::Client< ServiceT >::CallbackType = std::function<void (SharedFuture)>

◆ CallbackWithRequestType

template<typename ServiceT >

using rclcpp::Client< ServiceT >::CallbackWithRequestType = std::function<void (SharedFutureWithRequest)>

Constructor & Destructor Documentation

◆ Client()

template<typename ServiceT >

rclcpp::Client< ServiceT >::Client	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	node_graph,
		const std::string &	service_name,
		rcl_client_options_t &	client_options
	)

inline

Default constructor.

The constructor for a Client is almost never called directly. Instead, clients should be instantiated through the function rclcpp::create_client().

Parameters

[in]	node_base	NodeBaseInterface pointer that is used in part of the setup.
[in]	node_graph	The node graph interface of the corresponding node.
[in]	service_name	Name of the topic to publish to.
[in]	client_options	options for the subscription.

◆ ~Client()

template<typename ServiceT >

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

inlinevirtual

Member Function Documentation

◆ take_response()

template<typename ServiceT >

bool rclcpp::Client< ServiceT >::take_response	(	typename ServiceT::Response &	response_out,
		rmw_request_id_t &	request_header_out
	)

inline

Take the next response for this client.

See also: ClientBase::take_type_erased_response().

Parameters

[out]	response_out	The reference 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

rclcpp::exceptions::RCLError based exceptions if the underlying rcl function fail.

◆ create_response()

template<typename ServiceT >

std::shared_ptr<void> rclcpp::Client< ServiceT >::create_response ( )

inlineoverridevirtual

Create a shared pointer with the response type.

Returns: shared pointer with the response type

Implements rclcpp::ClientBase.

◆ create_request_header()

template<typename ServiceT >

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

inlineoverridevirtual

Create a shared pointer with a rmw_request_id_t.

Returns: shared pointer with a rmw_request_id_t

Implements rclcpp::ClientBase.

◆ handle_response()

template<typename ServiceT >

void rclcpp::Client< ServiceT >::handle_response	(	std::shared_ptr< rmw_request_id_t >	request_header,
		std::shared_ptr< void >	response
	)

inlineoverridevirtual

Handle a server response.

Parameters

[in]	request_header	used to check if the secuence number is valid
[in]	response	message with the server response

Implements rclcpp::ClientBase.

◆ async_send_request() [1/3]

template<typename ServiceT >

SharedFuture rclcpp::Client< ServiceT >::async_send_request ( SharedRequest request )

inline

◆ async_send_request() [2/3]

template<typename ServiceT >

template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackType >::value >::type * = nullptr>

SharedFuture rclcpp::Client< ServiceT >::async_send_request	(	SharedRequest	request,
		CallbackT &&	cb
	)

inline

◆ async_send_request() [3/3]

template<typename ServiceT >

template<typename CallbackT , typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, CallbackWithRequestType >::value >::type * = nullptr>

SharedFutureWithRequest rclcpp::Client< ServiceT >::async_send_request	(	SharedRequest	request,
		CallbackT &&	cb
	)

inline

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

include/rclcpp/client.hpp

Public Types

Public Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ SharedRequest

◆ SharedResponse

◆ Promise

◆ PromiseWithRequest

◆ SharedPromise

◆ SharedPromiseWithRequest

◆ SharedFuture

◆ SharedFutureWithRequest

◆ CallbackType

◆ CallbackWithRequestType

Constructor & Destructor Documentation

◆ Client()

◆ ~Client()

Member Function Documentation

◆ take_response()

◆ create_response()

◆ create_request_header()

◆ handle_response()

◆ async_send_request() [1/3]

◆ async_send_request() [2/3]

◆ async_send_request() [3/3]