rclcpp/rclcpp/src/rclcpp/create_generic_client.cpp at rolling · ros2/rclcpp

44 lines (40 loc) · 1.51 KB

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

// http://www.apache.org/licenses/LICENSE-2.0

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#include "rclcpp/create_generic_client.hpp"

#include "rclcpp/generic_client.hpp"

namespace rclcpp

{

rclcpp::GenericClient::SharedPtr

create_generic_client(

const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,

const std::shared_ptr<node_interfaces::NodeGraphInterface> & node_graph,

const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,

const std::string & service_name,

const std::string & service_type,

const rclcpp::QoS & qos,

const rclcpp::CallbackGroup::SharedPtr & group)

{

rcl_client_options_t options = rcl_client_get_default_options();

options.qos = qos.get_rmw_qos_profile();

auto cli = rclcpp::GenericClient::make_shared(

node_base.get(),

node_graph,

service_name,

service_type,

options);

auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli);

node_services->add_client(cli_base_ptr, group);

return cli;

}

} // namespace rclcpp

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