service_client_handler.h

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
#include <string>
#include <future>
 
namespace mrs_lib
{
 
  /* class ServiceClientHandler //{ */
 
  template <class ServiceType>
  class ServiceClientHandler
  {
 
  public:
    ServiceClientHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const rclcpp::QoS& qos = rclcpp::ServicesQoS());
 
    ServiceClientHandler();
 
    ServiceClientHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const rclcpp::QoS& qos,
                         const rclcpp::CallbackGroup::SharedPtr& callback_group);
 
    ServiceClientHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const rclcpp::CallbackGroup::SharedPtr& callback_group);
 
    std::optional<std::shared_ptr<typename ServiceType::Response>> callSync(const std::shared_ptr<typename ServiceType::Request>& request);
 
    std::optional<std::shared_future<std::shared_ptr<typename ServiceType::Response>>> callAsync(const std::shared_ptr<typename ServiceType::Request>& request);
 
  private:
    class Impl;
    std::shared_ptr<Impl> impl_;
  };
 
  //}
 
} // namespace mrs_lib
 
#include <mrs_lib/impl/service_client_handler.hpp>