Ros2ServiceImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2ServiceImpl

class Ros2ServiceImpl : public isaacsim::ros2::bridge::Ros2Service

Implementation of ROS 2 Service Server.

Manages a ROS 2 service server instance, providing functionality for handling service requests and sending responses.

Public Functions

Ros2ServiceImpl(

Ros2NodeHandle *nodeHandle,

const char *serviceName,

const void *typeSupport,

const Ros2QoSProfile &qos,

)

Constructor for ROS 2 Service Server 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 service.

virtual ~Ros2ServiceImpl()

virtual bool takeRequest(void *requestMsg)

Takes a pending service request.

Parameters:

requestMsg – [out] Pointer to store the request message

Returns:

bool True if a request was received

virtual bool sendResponse(void *responseMsg)

Sends a service response.

Parameters:

responseMsg – [in] Pointer to the response message

Returns:

bool True if the response was sent successfully

inline virtual bool isValid()

Checks if the service server is valid.

Returns:

bool True if the service server is properly initialized