mrs_lib::ServiceServerHandler< ServiceType > Class Template Reference

user wrapper of the service client handler implementation More...

#include <service_server_handler.h>

Public Types
using	callback_t = typename rclcpp::Service< ServiceType >::CallbackType

Public Member Functions
	ServiceServerHandler (rclcpp::Node::SharedPtr &node, const std::string &address, const callback_t &cbk, const rclcpp::QoS &qos=rclcpp::ServicesQoS())
	The main constructor with all the options.
	ServiceServerHandler ()
	Default constructor to avoid having to use pointers.
	ServiceServerHandler (rclcpp::Node::SharedPtr &node, const std::string &address, const callback_t &cbk, const rclcpp::QoS &qos, const rclcpp::CallbackGroup::SharedPtr &callback_group)
	A convenience constructor.
template<typename ClassType >
	ServiceServerHandler (rclcpp::Node::SharedPtr &node, const std::string &address, mrs_lib::Task< bool >(ClassType::*method)(const std::shared_ptr< typename ServiceType::Request > request, const std::shared_ptr< typename ServiceType::Response > response), ClassType *instance, const rclcpp::QoS &qos, const rclcpp::CallbackGroup::SharedPtr &callback_group)
	A convenience constructor with Task.
	ServiceServerHandler (rclcpp::Node::SharedPtr &node, const std::string &address, const callback_t &cbk, const rclcpp::CallbackGroup::SharedPtr &callback_group)
	A convenience constructor.

Detailed Description

template<class ServiceType>
class mrs_lib::ServiceServerHandler< ServiceType >

user wrapper of the service client handler implementation

Constructor & Destructor Documentation

ServiceServerHandler() [1/5]

template<class ServiceType >

mrs_lib::ServiceServerHandler< ServiceType >::ServiceServerHandler	(	rclcpp::Node::SharedPtr &	node,
		const std::string &	address,
		const callback_t &	cbk,
		const rclcpp::QoS &	qos = rclcpp::ServicesQoS()
	)

The main constructor with all the options.

This variant initializes a new MutuallyExclusive callback group for the service client, which is the intended default behavior to avoid deadlocks when using the callSync() method. For a more detailed explanation of the parameters, see the documentation of rclcpp::Node::create_client.

Parameters

node	ROS node handler.
address	Name of the service.
qos	QOS Communication quality of service profile.

ServiceServerHandler() [2/5]

template<class ServiceType >

mrs_lib::ServiceServerHandler< ServiceType >::ServiceServerHandler

(

)

Default constructor to avoid having to use pointers.

It does nothing and the object it constructs will also do nothing. Use some of the other constructors for a construction of an actually usable object.

ServiceServerHandler() [3/5]

template<class ServiceType >

mrs_lib::ServiceServerHandler< ServiceType >::ServiceServerHandler	(	rclcpp::Node::SharedPtr &	node,
		const std::string &	address,
		const callback_t &	cbk,
		const rclcpp::QoS &	qos,
		const rclcpp::CallbackGroup::SharedPtr &	callback_group
	)

A convenience constructor.

This is just for convenience when you want to specify the callback group.

Parameters

node	ROS node handler.
address	Name of the service.
qos	QOS Communication quality of service profile.
callback_group	Callback group used internally by the node for the response callback. Set to nullptr to use the default one.

ServiceServerHandler() [4/5]

template<class ServiceType >

template<typename ClassType >

mrs_lib::ServiceServerHandler< ServiceType >::ServiceServerHandler	(	rclcpp::Node::SharedPtr &	node,
		const std::string &	address,
		mrs_lib::Task< bool >(ClassType::*)(const std::shared_ptr< typename ServiceType::Request > request, const std::shared_ptr< typename ServiceType::Response > response)	method,
		ClassType *	instance,
		const rclcpp::QoS &	qos,
		const rclcpp::CallbackGroup::SharedPtr &	callback_group
	)

A convenience constructor with Task.

This is just for convenience when you want to specify the callback group.

Parameters

node	ROS node handler.
address	Name of the service.
qos	QOS Communication quality of service profile.
callback_group	Callback group used internally by the node for the response callback. Set to nullptr to use the default one.

ServiceServerHandler() [5/5]

template<class ServiceType >

mrs_lib::ServiceServerHandler< ServiceType >::ServiceServerHandler	(	rclcpp::Node::SharedPtr &	node,
		const std::string &	address,
		const callback_t &	cbk,
		const rclcpp::CallbackGroup::SharedPtr &	callback_group
	)

A convenience constructor.

This is just for convenience when you want to specify the callback group but don't care about QoS.

Parameters

node	ROS node handler.
address	Name of the service.
callback_group	Callback group used internally by the node for the response callback. Set to nullptr to use the default one.

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

• include/mrs_lib/service_server_handler.h
• include/mrs_lib/impl/service_server_handler.hpp