Ros2Service#

Fully qualified name: isaacsim::ros2::bridge::Ros2Service

class Ros2Service#

Base class for ROS 2 service servers.

Provides the interface for implementing ROS 2 service servers. Service servers receive requests and send responses in a request-response pattern.

Public Functions

virtual bool takeRequest(void *requestMsg) = 0#

Processes incoming service requests.

Checks for and retrieves any pending service requests. If a request is available, it is copied into the provided message structure.

Parameters:: requestMsg – [out] Pointer to store the received request message.
Returns:: True if a request was received, false otherwise.
Pre:: The requestMsg pointer must point to a valid request message structure of the correct type.
Pre:: The service server must be valid (check with isValid()).

virtual bool sendResponse(void *responseMsg) = 0#

Sends a response to a service request.

Sends the provided response message back to the client that made the request.

Parameters:: responseMsg – [in] Pointer to the response message to send.
Returns:: True if the response was sent successfully, false otherwise.
Pre:: The responseMsg pointer must point to a valid response message structure of the correct type.
Pre:: The service server must have previously received a request via takeRequest().
Pre:: The service server must be valid (check with isValid()).

virtual bool isValid() = 0#

Checks whether the service server is valid.

Verifies if the object holds a properly initialized ROS 2 service server instance.

Note

A service server may become invalid if its associated node or context is destroyed.