UROS2ServiceClient Class Reference

Class implementing ROS2 service clients. More...

#include <ROS2ServiceClient.h>

Inheritance diagram for UROS2ServiceClient:

Collaboration diagram for UROS2ServiceClient:

Public Member Functions
virtual void	Destroy ()
	Destroy service with rcl_client_fini. More...
virtual void	ProcessReady () override
	Determine the relevant service client functions to call. More...
void	SendRequest ()
	Send service request. More...
template<typename TService , typename TServiceRequest >
void	SendRequest (TService *InService, const TServiceRequest &InServiceRequest)
	Send service request. More...
bool	IsServiceReady ()
	Return true if service is available. More...
void	SetDelegates (const FServiceCallback &InResponseCallback)
	Set ResponseDelegate. More...
Public Member Functions inherited from UROS2Service
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...

Static Public Member Functions
static UROS2ServiceClient *	CreateServiceClient (UObject *InOwner, const FString &InServiceName, const TSubclassOf< UROS2GenericSrv > &InSrvClass, const FServiceCallback &InResponseDelegate, const UROS2QoS InQoS=UROS2QoS::Services)
	Create a Service Client object. More...

Public Attributes
FServiceCallback	ResponseDelegate
	used to receive the answer More...
rcl_client_t	client
	ROS2 Service client.
bool	Ready = false
	Service is ready or not.
Public Attributes inherited from UROS2Service
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 () override
	Initialize ROS2 service client with rcl_client_init. More...

Additional Inherited Members
Protected Attributes inherited from UROS2Service
bool	Ready
	Service is ready or not.

Detailed Description

Class implementing ROS2 service clients.

Service type is defined by SrvClass

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

Member Function Documentation

CreateServiceClient()

static UROS2ServiceClient* UROS2ServiceClient::CreateServiceClient ( UObject *  InOwner, const FString &  InServiceName, const TSubclassOf< UROS2GenericSrv > &  InSrvClass, const FServiceCallback &  InResponseDelegate, const UROS2QoS  InQoS = UROS2QoS::Services  )

static

Create a Service Client object.

Parameters

InOwner
InServiceName
InSrvClass
InResponseDelegate

Returns

UROS2ServiceClient*

Destroy()

virtual void UROS2ServiceClient::Destroy ( )

virtual

Destroy service with rcl_client_fini.

Reimplemented from UROS2Service.

InitializeServiceComponent()

virtual void UROS2ServiceClient::InitializeServiceComponent ( )

overrideprotectedvirtual

Initialize ROS2 service client with rcl_client_init.

Set QOS for all goal, result, cancel, feedback and status

Reimplemented from UROS2Service.

IsServiceReady()

bool UROS2ServiceClient::IsServiceReady

(

)

Return true if service is available.

See also

https://github.com/ros2/rclcpp/blob/11edf82c7d960e76a00a470033b99cc88a5eb082/rclcpp/src/rclcpp/client.cpp#L107

UFUNCTION(BlueprintCallable)

ProcessReady()

virtual void UROS2ServiceClient::ProcessReady ( )

overridevirtual

Determine the relevant service client functions to call.

Reimplemented from UROS2Service.

SendRequest() [1/2]

void UROS2ServiceClient::SendRequest

(

)

Send service request.

UFUNCTION(BlueprintCallable)

SendRequest() [2/2]

template<typename TService , typename TServiceRequest >

void UROS2ServiceClient::SendRequest ( TService *  InService, const TServiceRequest &  InServiceRequest  )

inline

Send service request.

Template Parameters

TService
TServiceRequest

Parameters

InService
InServiceRequest

SetDelegates()

void UROS2ServiceClient::SetDelegates

(

const FServiceCallback &

InResponseCallback

)

Set ResponseDelegate.

Parameters

InResponseCallback

UFUNCTION(BlueprintCallable)

Member Data Documentation

ResponseDelegate

FServiceCallback UROS2ServiceClient::ResponseDelegate

used to receive the answer

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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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/ROS2ServiceClient.h