Service /Client event_callbacks

asked 2021-08-01 07:56:17 -0500

BhanuKiran.Chaluvadi gravatar image


For publishers & subscribers once can set QOS setting for liveliness and then can set a call back function in case of the such an event.

rclcpp::SubscriptionOptions->event_callbacks.liveliness_callback =  
    [](rclcpp::QOSLivelinessChangedInfo & event)
        // do some thing

I am looking some things similar in case of service & client . Is there a way where I can set QOS liveliness policy and has a call back function when it fails ?

Thanks you

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