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Multiple Service Calls in ROS2

asked 2019-07-31 11:29:16 -0500

mikepark93 gravatar image

I have a sensor library that I am using ROS2 services to make function calls to that library. Is there a way to have multiple services in one node or do I need to make a new node for each individual service call?

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answered 2019-07-31 13:04:01 -0500

alsora gravatar image

updated 2019-07-31 13:04:31 -0500

A node can have any number of publisher, subscription, service or client.

using std::placeholders::_1;
using std::placeholders::_2;
using std::placeholders::_3;

class MyNode : public rclcpp::Node
{
public:
MyNode(std::string name = "my_node") : Node(name)
{
    _service1 = this->create_service<ServiceT1>("service1", std::bind(&MyNode::handle_service_1, this, _1, _2, _3));
    _service2 = this->create_service<ServiceT2>("service2", std::bind(&MyNode::handle_service_2, this, _1, _2, _3));
}

private:
    void handle_service_1(
        const std::shared_ptr<rmw_request_id_t> request_header,
        const std::shared_ptr<ServiceT1::Request> request,
        const std::shared_ptr<ServiceT1::Response> response)
    {
     std::cout<<"This is service 1"<<std::endl;
    }

    void handle_service_2(
        const std::shared_ptr<rmw_request_id_t> request_header,
        const std::shared_ptr<ServiceT2::Request> request,
        const std::shared_ptr<ServiceT2::Response> response);
    {
     std::cout<<"This is service 2"<<std::endl;
    }

    rclcpp::Service<ServiceT1>::SharedPtr _service1;
    rclcpp::Service<ServiceT2>::SharedPtr _service2;
};
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Asked: 2019-07-31 11:12:10 -0500

Seen: 27 times

Last updated: Jul 31