nimbro_utils::RosServiceCaller< T > Class Template Reference

Provides basic functionality for controlling calls to ROS services. More...

#include <ros_timing.h>

Public Member Functions
	RosServiceCaller (double reissueDelay, double failRetryDelay)
	Default constructor. More...
void	setServiceClient (const ros::ServiceClient &SC)
	Set function for the ROS ServiceClient used by this RosServiceCaller
bool	callService ()
	Call the required service with the request data stored in the data class member.
bool	callService (T &srv_data)
	Call the required service with the request data stored in srv_data.

Public Attributes
T	data
	Request variable (can choose to use this instead of providing your own in the calling scope of callService())

Detailed Description

template<class T>
class nimbro_utils::RosServiceCaller< T >

Provides basic functionality for controlling calls to ROS services.

To use a RosServiceCaller in your class, simply add an instance of it as a class member and provide the two delay arguments to the RosServiceCaller constructor in the class initialiser list. From then on you can simply directly invoke callService() whenver you need to. So in the end you'll probably have something like this:

RosServiceCaller<srv_node::MySrv> m_rsc_mySrv(2.0, 0.3);
...
if(I_Want_To_Call_My_Service)
{
    srv_node::MySrv data;
    data.request.XXX = ...;
    data.request.YYY = ...;
    if(m_rsc_mySrv.callService(data))
    {
        // Process data.response!
    }
}
...
OR
...
if(I_Want_To_Call_My_Service)
{
    m_rsc_mySrv.data.request.XXX = ...;
    m_rsc_mySrv.data.request.YYY = ...;
    if(m_rsc_mySrv.callService())
    {
        // Process m_rsc_mySrv.data.response!
    }
}

Constructor & Destructor Documentation

template<class T >

nimbro_utils::RosServiceCaller< T >::RosServiceCaller ( double  reissueDelay, double  failRetryDelay  )

inline

Default constructor.

Parameters

reissueDelay	The minimum time to wait after a successful service call before allowing attempts to call the service again.
failRetryDelay	The minimum time to wait after an unsuccessful service call before allowing attempts to call the service again.

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

• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/tools/nimbro_utils/include/nimbro_utils/ros_timing.h