void
NodeServices::add_client(
rclcpp::client::ClientBase::SharedPtr client_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
if (group) {
if (!node_base_->callback_group_in_node(group)) {
// TODO(jacquelinekay): use custom exception
throw std::runtime_error("Cannot create client, group not in node.");
}
group->add_client(client_base_ptr);
} else {
node_base_->get_default_callback_group()->add_client(client_base_ptr);
}
// Notify the executor that a new client was created using the parent Node.
{
auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
throw std::runtime_error(
std::string("Failed to notify waitset on client creation: ") + rmw_get_error_string()
);
}
}
}
typename client::Client<ServiceT>::SharedPtr
Node::create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
using rosidl_generator_cpp::get_service_type_support_handle;
auto service_type_support_handle =
get_service_type_support_handle<ServiceT>();
rmw_client_t * client_handle = rmw_create_client(
this->node_handle_.get(), service_type_support_handle, service_name.c_str(), &qos_profile);
if (!client_handle) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("could not create client: ") +
rmw_get_error_string_safe());
// *INDENT-ON*
}
using rclcpp::client::Client;
using rclcpp::client::ClientBase;
auto cli = Client<ServiceT>::make_shared(
node_handle_,
client_handle,
service_name);
auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
if (group) {
if (!group_in_node(group)) {
// TODO(esteve): use custom exception
throw std::runtime_error("Cannot create client, group not in node.");
}
group->add_client(cli_base_ptr);
} else {
default_callback_group_->add_client(cli_base_ptr);
}
number_of_clients_++;
return cli;
}
typename client::Client<ServiceT>::SharedPtr
Node::create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
rcl_client_options_t options = rcl_client_get_default_options();
options.qos = qos_profile;
using rclcpp::client::Client;
using rclcpp::client::ClientBase;
auto cli = Client<ServiceT>::make_shared(
node_handle_,
service_name,
options);
auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
if (group) {
if (!group_in_node(group)) {
// TODO(esteve): use custom exception
throw std::runtime_error("Cannot create client, group not in node.");
}
group->add_client(cli_base_ptr);
} else {
default_callback_group_->add_client(cli_base_ptr);
}
number_of_clients_++;
if (rcl_trigger_guard_condition(¬ify_guard_condition_) != RCL_RET_OK) {
throw std::runtime_error(
std::string(
"Failed to notify waitset on client creation: ") + rmw_get_error_string());
}
return cli;
}