Add wrappers for common operation signatures to rtt_std_srvs #123
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…s to rtt_std_srvs (fix #101) With this patch it is possible to create ROS service servers for some common operation signatures out of the box, without the need to write custom wrappers or to add extra operations with the ROS specific callback signature. Supported service types and associated signatures: std_srvs/Empty: - bool empty() // The service call fails if empty() returns false! // Use std_srvs/Trigger if the result should be returned as the response. - void empty() std_srvs/SetBool: - bool setBool(bool, std::string &message_out) - bool setBool(bool) // response.message will be empty - std::string setBool(bool) // response.success = true - void setBool(bool) // response.success = true and response.message will be empty std_srvs/Trigger: - bool trigger(std::string &message_out) - bool trigger() // response.message will be empty - std::string trigger() // response.success = true The approach can be easily extended to other ROS service types.
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| @@ -118,12 +118,23 @@ TEST(TransportTest, VectorTest) | |||
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| static int callback_called = 0; | |||
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question: do we control in which thread the callbacks are made? If not, maybe this counter should be atomic. Not important right now, just curious.
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The callbacks are executed by a thread pool owned by a ros::AsyncSpinner in rtt_rosnode. They could execute in parallel, but the service calls in the unit tests are synchronous and block until the callback has been processed and the results are returned through the network stack and roscpp. So no concurrency.
Was not quite as easily circumvented as it appeared at first, but now it works as intended. |
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Very nice ! |
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very nice ! |
…ion from #123) Clang seems to handle SFINAE differently than gcc and compilation of generated service proxy plugins failed with errors like: In file included from rtt_diagnostic_msgs/diagnostic_msgs_service_proxies/rtt_rosservice_proxies.cpp:7: rtt_roscomm/rtt_rosservice_proxy.h:99:30: error: implicit instantiation of undefined template 'ROSServiceServerOperationCallerWrapper<diagnostic_msgs::AddDiagnostics, 1>'
Implements #101.
With this patch it is possible to create ROS service servers for some common operation signatures out of the box, without the need to write custom wrappers or to add extra operations with the ROS specific callback signature.
Supported service types and associated signatures:
The approach can be easily extended to other ROS service types.