UROS2Service Class Reference

Class implementing ROS2 service clients. More...

#include <ROS2Service.h>

Inheritance diagram for UROS2Service:

Collaboration diagram for UROS2Service:

Public Member Functions
virtual bool	InitializeWithROS2 (UROS2NodeComponent *InROS2Node)
	Initialize Service with ROS2Node. More...
virtual bool	Init ()
	Initialize ROS2 service client with rcl_client_init, set QoS, InitializeService and InitializeServiceComponent . More...
virtual bool	InitializeService ()
	Create Service instance and initialize it. More...
virtual void	Destroy ()
	Destroy service with rcl_client_fini. More...
virtual void	ProcessReady ()
	Determine the relevant service functions to call. More...

Public Attributes
FString	ServiceName
	this information is redundant with Topic, but it's used to initialize it More...
TSubclassOf< UROS2GenericSrv >	SrvClass
	type of Srv class More...
UROS2NodeComponent *	OwnerNode
	ROS2Node which own this service client. More...
TEnumAsByte< UROS2State >	State = UROS2State::Created
	Service client state. More...
UROS2GenericSrv *	Service
	Service Instance. More...
UROS2QoS	QoS = UROS2QoS::Services
	Quality of service. More...

Protected Member Functions
virtual void	InitializeServiceComponent ()
	Initialize ROS2 Action. Should be implemented in UROS2ServiceServer and UROS2ServiceClient. More...

Protected Attributes
bool	Ready
	Service is ready or not.

Detailed Description

Class implementing ROS2 service clients.

Service type is defined by SrvClass

UCLASS(ClassGroup = (Custom), Blueprintable, BlueprintType, meta = (BlueprintSpawnableComponent))

Member Function Documentation

Destroy()

virtual void UROS2Service::Destroy ( )

virtual

Destroy service with rcl_client_fini.

UFUNCTION()

Reimplemented in UROS2ServiceClient, and UROS2ServiceServer.

Init()

virtual bool UROS2Service::Init ( )

virtual

Initialize ROS2 service client with rcl_client_init, set QoS, InitializeService and InitializeServiceComponent .

Returns

true

false

UFUNCTION(BlueprintCallable)

InitializeService()

virtual bool UROS2Service::InitializeService ( )

virtual

Create Service instance and initialize it.

Returns

true

false

UFUNCTION(BlueprintCallable)

InitializeServiceComponent()

virtual void UROS2Service::InitializeServiceComponent ( )

protectedvirtual

Initialize ROS2 Action. Should be implemented in UROS2ServiceServer and UROS2ServiceClient.

UFUNCTION()

Reimplemented in UROS2ServiceClient, and UROS2ServiceServer.

InitializeWithROS2()

virtual bool UROS2Service::InitializeWithROS2 ( UROS2NodeComponent *  InROS2Node )

virtual

Initialize Service with ROS2Node.

Parameters

InROS2Node

ROS2Node which this publisher belongs to

Returns

true

false

ProcessReady()

virtual void UROS2Service::ProcessReady ( )

virtual

Determine the relevant service functions to call.

Should be implemented in UROS2ServiceServer and UROS2ServiceClient

Reimplemented in UROS2ServiceClient, and UROS2ServiceServer.

Member Data Documentation

OwnerNode

UROS2NodeComponent* UROS2Service::OwnerNode

ROS2Node which own this service client.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

QoS

UROS2QoS UROS2Service::QoS = UROS2QoS::Services

Quality of service.

See also

ROS2 QoS

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Service

UROS2GenericSrv* UROS2Service::Service

Service Instance.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

ServiceName

FString UROS2Service::ServiceName

this information is redundant with Topic, but it's used to initialize it

UPROPERTY(EditAnywhere, BlueprintReadWrite)

SrvClass

TSubclassOf<UROS2GenericSrv> UROS2Service::SrvClass

type of Srv class

UPROPERTY(EditAnywhere, BlueprintReadWrite)

State

TEnumAsByte<UROS2State> UROS2Service::State = UROS2State::Created

Service client state.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

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

• /home/docs/checkouts/readthedocs.org/user_builds/rclue/checkouts/latest/Source/rclUE/Public/ROS2Service.h