-
Notifications
You must be signed in to change notification settings - Fork 525
Expand file tree
/
Copy pathcreate_generic_service.cpp
More file actions
49 lines (44 loc) · 1.58 KB
/
create_generic_service.cpp
File metadata and controls
49 lines (44 loc) · 1.58 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
// Copyright 2024 Sony Group Corporation.
//
// 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 <string>
#include <memory>
#include "rclcpp/create_generic_service.hpp"
#include "rclcpp/generic_service.hpp"
namespace rclcpp
{
rclcpp::GenericService::SharedPtr
create_generic_service(
std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
const std::string & service_name,
const std::string & service_type,
GenericServiceCallback any_callback,
const rclcpp::QoS & qos,
rclcpp::CallbackGroup::SharedPtr group)
{
rcl_service_options_t options = rcl_service_get_default_options();
options.qos = qos.get_rmw_qos_profile();
auto srv = rclcpp::GenericService::make_shared(
node_base.get(),
node_graph,
service_name,
service_type,
any_callback,
options);
auto srv_base_ptr = std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv);
node_services->add_service(srv_base_ptr, group);
return srv;
}
} // namespace rclcpp