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Pass response object as parameter

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This commit is contained in:
Esteve Fernandez 2015-01-12 14:36:42 -08:00
parent af3709f040
commit f26bed380d
1 changed files with 4 additions and 10 deletions
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14
rclcpp/include/rclcpp/client.hpp
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@ -43,19 +43,13 @@ public:
: client_handle_(client_handle), service_name_(service_name)
{}
std::shared_ptr<typename ServiceT::Response>
send_request(std::shared_ptr<typename ServiceT::Request> &req)
::ros_middleware_interface::ROS2_RETCODE_t send_request(
std::shared_ptr<typename ServiceT::Request> &req,
std::shared_ptr<typename ServiceT::Response> &res)
{
::ros_middleware_interface::send_request(client_handle_, req.get());
std::shared_ptr<typename ServiceT::Response> res = std::make_shared<typename ServiceT::Response>();
bool received = ::ros_middleware_interface::receive_response(client_handle_, res.get());
if(!received)
{
// TODO: use custom exception
throw std::runtime_error("Timed out while waiting for response");
}
return res;
return ::ros_middleware_interface::receive_response(client_handle_, res.get());
}
private: