Ros2ClientImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2ClientImpl

class Ros2ClientImpl : public isaacsim::ros2::bridge::Ros2Client

Implementation of ROS 2 Service Client.

Manages a ROS 2 service client instance, providing functionality for sending service requests and receiving responses.

Public Functions

Ros2ClientImpl(

Ros2NodeHandle *nodeHandle,

const char *serviceName,

const void *typeSupport,

const Ros2QoSProfile &qos,

)

Constructor for ROS 2 Service Client implementation.

Parameters:

• nodeHandle – [in] Pointer to the ROS 2 node handle.

• serviceName – [in] Name of the service.

• typeSupport – [in] Type support handle for the service type.

• qos – [in] Quality of Service settings for the client.

virtual ~Ros2ClientImpl()

virtual bool sendRequest(void *requestMsg)

Sends a service request.

Parameters:

requestMsg – [in] Pointer to the request message

Returns:

bool True if the request was sent successfully

virtual bool takeResponse(void *responseMsg)

Takes a service response.

Parameters:

responseMsg – [out] Pointer to store the response message

Returns:

bool True if a response was received

inline virtual bool isValid()

Checks if the service client is valid.

Returns:

bool True if the service client is properly initialized