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Add free function for creating service clients (#788)

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Equivalent to the free function for creating a service.
Resolves #768

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-07-22 10:25:48 -07:00 • committed by GitHub
parent c7d01d7bf3
commit cd063575ff
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3 changed files with 85 additions and 13 deletions
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23
rclcpp/test/test_client.cpp
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@ -81,6 +81,29 @@ TEST_F(TestClient, construction_and_destruction) {
}
}
TEST_F(TestClient, construction_with_free_function) {
{
auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
node->get_node_base_interface(),
node->get_node_graph_interface(),
node->get_node_services_interface(),
"service",
rmw_qos_profile_services_default,
nullptr);
}
{
ASSERT_THROW({
auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
node->get_node_base_interface(),
node->get_node_graph_interface(),
node->get_node_services_interface(),
"invalid_?service",
rmw_qos_profile_services_default,
nullptr);
}, rclcpp::exceptions::InvalidServiceNameError);
}
}
/*
Testing client construction and destruction for subnodes.
*/