service_server_handler.hpp

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#pragma once
 
#include <mrs_lib/service_server_handler.h>
 
namespace mrs_lib
{
 
  // --------------------------------------------------------------
  // |                    ServiceServerHandler                    |
  // --------------------------------------------------------------
 
  /* ServiceServerHandler() constructors //{ */
 
  template <class ServiceType>
  ServiceServerHandler<ServiceType>::ServiceServerHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const callback_t& cbk,
                                                          const rclcpp::QoS& qos)
      : ServiceServerHandler(node, address, cbk, qos, node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive))
  {
  }
 
  template <class ServiceType>
  ServiceServerHandler<ServiceType>::ServiceServerHandler()
  {
  }
 
  template <class ServiceType>
  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)
      : callback_group_(callback_group), service_server_(node->create_service<ServiceType>(address, cbk, qos, callback_group))
  {
    RCLCPP_INFO_STREAM(node->get_logger(), "Created service: " << service_server_->get_service_name());
  }
 
  template <class ServiceType>
  ServiceServerHandler<ServiceType>::ServiceServerHandler(rclcpp::Node::SharedPtr& node, const std::string& address, const callback_t& cbk,
                                                          const rclcpp::CallbackGroup::SharedPtr& callback_group)
      : ServiceServerHandler(node, address, cbk, rclcpp::ServicesQoS(), callback_group)
  {
  }
 
  //}
 
} // namespace mrs_lib