From b938bd691a8c84856ea1c32ea3b3d79ec3e08fe8 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Mon, 20 Apr 2015 13:22:54 -0700
Subject: [PATCH] Pass request header to callbacks

---
 rclcpp/include/rclcpp/node.hpp      | 4 +---
 rclcpp/include/rclcpp/node_impl.hpp | 3 +--
 rclcpp/include/rclcpp/service.hpp   | 7 ++++---
 3 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 3dea295..333ceee 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -113,9 +113,7 @@ public:
   typename rclcpp::service::Service<ServiceT>::SharedPtr
   create_service(
     std::string service_name,
-    std::function<void(
-      const std::shared_ptr<typename ServiceT::Request> &,
-      std::shared_ptr<typename ServiceT::Response> &)> callback,
+    typename rclcpp::service::Service<ServiceT>::CallbackType callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
 private:
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 98d404b..f7a8d91 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -186,8 +186,7 @@ template<typename ServiceT>
 typename service::Service<ServiceT>::SharedPtr
 Node::create_service(
   std::string service_name,
-  std::function<void(const std::shared_ptr<typename ServiceT::Request> &,
-  std::shared_ptr<typename ServiceT::Response> &)> callback,
+  typename rclcpp::service::Service<ServiceT>::CallbackType callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   using rosidl_generator_cpp::get_service_type_support_handle;
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index ad1376c..522fb81 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -86,8 +86,9 @@ class Service : public ServiceBase
 {
 public:
   typedef std::function<
-      void (const std::shared_ptr<typename ServiceT::Request> &,
-      std::shared_ptr<typename ServiceT::Response> &)> CallbackType;
+      void (const std::shared_ptr<rmw_request_id_t> &,
+          const std::shared_ptr<typename ServiceT::Request> &,
+          std::shared_ptr<typename ServiceT::Response> &)> CallbackType;
   RCLCPP_MAKE_SHARED_DEFINITIONS(Service);
 
   Service(
@@ -114,7 +115,7 @@ public:
     auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
     auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
     auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
-    callback_(typed_request, response);
+    callback_(typed_request_header, typed_request, response);
     send_response(typed_request_header, response);
   }