From 3e0621a1ffb56c811a6423b178b85b5e3a90f2d4 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Thu, 8 Jan 2015 14:49:47 -0800
Subject: [PATCH] Added support for timeouts

---
 rclcpp/include/rclcpp/client.hpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index 6bda230..89609b6 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -44,12 +44,17 @@ public:
   {}
 
   std::shared_ptr<typename ServiceT::Response>
-  send_request(std::shared_ptr<typename ServiceT::Request> &req)
+  send_request(std::shared_ptr<typename ServiceT::Request> &req, long timeout=10)
   {
     ::ros_middleware_interface::send_request(client_handle_, req.get());
 
     std::shared_ptr<typename ServiceT::Response> res = std::make_shared<typename ServiceT::Response>();
-    ::ros_middleware_interface::receive_response(client_handle_, res.get());
+    bool received = ::ros_middleware_interface::receive_response(client_handle_, res.get(), timeout);
+    if(!received)
+    {
+      // TODO: use custom exception
+      throw std::runtime_error("Timed out while waiting for response");
+    }
     return res;
   }