def create_client(self,
srv_type,
srv_name: str,
*,
qos_profile: QoSProfile = qos_profile_services_default,
callback_group: CallbackGroup = None) -> Client:
"""
Create a new service client.
:param srv_type: The service type.
:param srv_name: The name of the service.
:param qos_profile: The quality of service profile to apply the service client.
:param callback_group: The callback group for the service client. If ``None``, then the
nodes default callback group is used.
"""
if callback_group is None:
callback_group = self.default_callback_group
check_for_type_support(srv_type)
failed = False
try:
[client_handle, client_pointer
] = _rclpy.rclpy_create_client(self.handle, srv_type, srv_name,
qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(srv_name, is_service=True)
client = Client(self.handle, self.context, client_handle,
client_pointer, srv_type, srv_name, qos_profile,
callback_group)
self.clients.append(client)
callback_group.add_entity(client)
return client
def __init__(self, node):
super().__init__(ReentrantCallbackGroup())
self.client = _rclpy.rclpy_create_client(
node.handle, EmptySrv, 'test_client', qos_profile_default.get_c_qos_profile())[0]
self.client_index = None
self.client_is_ready = False
self.node = node
self.future = None
def __init__(self, node):
super().__init__(ReentrantCallbackGroup())
with node.handle as node_capsule:
self.client = _rclpy.rclpy_create_client(
node_capsule, EmptySrv, 'test_client', QoSProfile(depth=10).get_c_qos_profile())
self.client_index = None
self.client_is_ready = False
self.node = node
self.future = None
def create_client(self, srv_type, srv_name, qos_profile=qos_profile_services_default):
if srv_type.__class__._TYPE_SUPPORT is None:
srv_type.__class__.__import_type_support__()
if srv_type.__class__._TYPE_SUPPORT is None:
raise NoTypeSupportImportedException
[client_handle, client_pointer] = _rclpy.rclpy_create_client(
self.handle,
srv_type,
srv_name,
qos_profile.get_c_qos_profile())
client = Client(
self.handle, client_handle, client_pointer, srv_type, srv_name, qos_profile)
self.clients.append(client)
return client
def create_client(self,
srv_type,
srv_name,
*,
qos_profile=qos_profile_services_default,
callback_group=None):
if callback_group is None:
callback_group = self._default_callback_group
check_for_type_support(srv_type)
failed = False
try:
[client_handle, client_pointer
] = _rclpy.rclpy_create_client(self.handle, srv_type, srv_name,
qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(srv_name, is_service=True)
client = Client(self.handle, client_handle, client_pointer, srv_type,
srv_name, qos_profile, callback_group)
self.clients.append(client)
callback_group.add_entity(client)
return client
