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fixes to get services compiling

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This commit is contained in:
William Woodall 2015-03-04 21:15:04 -08:00
parent 209a31c815
commit 25c8c567b4
2 changed files with 8 additions and 6 deletions
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5
rclcpp/include/rclcpp/client.hpp
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@ -130,8 +130,9 @@ public:
typename ServiceT::Request::Ptr &request, typename ServiceT::Request::Ptr &request,
CallbackType cb) CallbackType cb)
{ {
int64_t sequence_number = int64_t sequence_number;
rmw_send_request(get_client_handle(), request.get()); // TODO(wjwwood): Check the return code.
rmw_send_request(get_client_handle(), request.get(), &sequence_number);
SharedPromise call_promise = std::make_shared<Promise>(); SharedPromise call_promise = std::make_shared<Promise>();
SharedFuture f(call_promise->get_future()); SharedFuture f(call_promise->get_future());

9
rclcpp/include/rclcpp/executor.hpp
View file

@ -362,6 +362,7 @@ protected:
// Now wait on the waitable subscriptions and timers // Now wait on the waitable subscriptions and timers
rmw_wait(&subscriber_handles, rmw_wait(&subscriber_handles,
&guard_condition_handles, &guard_condition_handles,
&service_handles,
&client_handles, &client_handles,
nonblocking); nonblocking);
// If ctrl-c guard condition, return directly // If ctrl-c guard condition, return directly
@ -397,7 +398,7 @@ protected:
// Then the services // Then the services
for (size_t i = 0; i < number_of_services; ++i) for (size_t i = 0; i < number_of_services; ++i)
{ {
void *handle = service_handles.services_[i]; void *handle = service_handles.services[i];
if (handle) if (handle)
{ {
service_handles_.push_back(handle); service_handles_.push_back(handle);
@ -406,7 +407,7 @@ protected:
// Then the clients // Then the clients
for (size_t i = 0; i < number_of_clients; ++i) for (size_t i = 0; i < number_of_clients; ++i)
{ {
void *handle = client_handles.clients_[i]; void *handle = client_handles.clients[i];
if (handle) if (handle)
{ {
client_handles_.push_back(handle); client_handles_.push_back(handle);
@ -500,7 +501,7 @@ protected:
} }
for (auto service : group->service_ptrs_) for (auto service : group->service_ptrs_)
{ {
if (service->service_handle_.data_ == service_handle) if (service->service_handle_->data == service_handle)
{ {
return service; return service;
} }
@ -529,7 +530,7 @@ protected:
} }
for (auto client : group->client_ptrs_) for (auto client : group->client_ptrs_)
{ {
if (client->client_handle_.data_ == client_handle) if (client->client_handle_->data == client_handle)
{ {
return client; return client;
} }