enable passing rclcpp::QoS w/ srv introspection

Signed-off-by: Brian Chen <[email protected]>
ros2 · Aug 9, 2022 · 802c351 · 802c351
1 parent cdadf7b
commit 802c351
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/rclcpp/include/rclcpp/create_service.hpp b/rclcpp/include/rclcpp/create_service.hpp
@@ -44,14 +44,16 @@ typename rclcpp::Service<ServiceT>::SharedPtr
 create_service(
   std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
   std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  std::shared_ptr<node_interfaces::NodeClockInterface> node_clock,
   const std::string & service_name,
   CallbackT && callback,
   const rclcpp::QoS & qos,
-  rclcpp::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group,
+  bool enable_service_introspection)
 {
   return create_service<ServiceT, CallbackT>(
-    node_base, node_services, service_name,
-    std::forward<CallbackT>(callback), qos.get_rmw_qos_profile(), group);
+    node_base, node_services, node_clock, service_name, std::forward<CallbackT>(callback),
+    qos.get_rmw_qos_profile(), group, enable_service_introspection);
 }
 
 

diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
@@ -169,10 +169,12 @@ Node::create_service(
   return rclcpp::create_service<ServiceT, CallbackT>(
     node_base_,
     node_services_,
+    node_clock_,
     extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
     std::forward<CallbackT>(callback),
     qos,
-    group);
+    group,
+    node_options_.enable_service_introspection());
 }
 
 template<typename ServiceT, typename CallbackT>