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Expose QoS profile in create_service and create_client #151

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Merged
jackieokay merged 1 commit into from
Nov 12, 2015
Merged

Expose QoS profile in create_service and create_client #151

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2 changes: 2 additions & 0 deletions rclcpp/include/rclcpp/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,6 +200,7 @@ class Node
typename rclcpp::client::Client<ServiceT>::SharedPtr
create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

/* Create and return a Service. */
Expand All @@ -208,6 +209,7 @@ class Node
create_service(
const std::string & service_name,
CallbackT && callback,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

RCLCPP_PUBLIC
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6 changes: 4 additions & 2 deletions rclcpp/include/rclcpp/node_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -274,14 +274,15 @@ template<typename ServiceT>
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());
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(
Expand Down Expand Up @@ -318,6 +319,7 @@ typename rclcpp::service::Service<ServiceT>::SharedPtr
Node::create_service(
const std::string & service_name,
CallbackT && callback,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
using rosidl_generator_cpp::get_service_type_support_handle;
Expand All @@ -328,7 +330,7 @@ Node::create_service(
any_service_callback.set(std::forward<CallbackT>(callback));

rmw_service_t * service_handle = rmw_create_service(
node_handle_.get(), service_type_support_handle, service_name.c_str());
node_handle_.get(), service_type_support_handle, service_name.c_str(), qos_profile);
if (!service_handle) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
Expand Down