From f968fbed2f32c7b17bfa315bc168cf428cd9457d Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Sun, 3 Dec 2023 21:45:32 +0100
Subject: [PATCH] [ros_python_interpreter] Add the possibility to get the
callback_group of reentrant type.
---
.../dynamic_graph_bridge/ros_python_interpreter_server.hpp | 5 ++++-
src/ros_python_interpreter_server.cpp | 7 ++++---
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp b/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp
index 48f6f85..a398549 100644
--- a/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp
+++ b/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp
@@ -85,8 +85,11 @@ class RosPythonInterpreterServer {
/**
* @brief start_ros_service advertize the "run_python_command" and
* "run_python_scripts" ros services
+ * @param qos: Quality of Service
+ * @param callback_group: Callback group
*/
- void start_ros_service();
+ void start_ros_service(const rclcpp::QoS& qos = rclcpp::ServicesQoS(),
+ rclcpp::CallbackGroup::SharedPtr group = nullptr);
protected:
/**
diff --git a/src/ros_python_interpreter_server.cpp b/src/ros_python_interpreter_server.cpp
index ce92f7d..272e5d4 100644
--- a/src/ros_python_interpreter_server.cpp
+++ b/src/ros_python_interpreter_server.cpp
@@ -25,12 +25,13 @@ RosPythonInterpreterServer::RosPythonInterpreterServer()
RosPythonInterpreterServer::~RosPythonInterpreterServer() {}
-void RosPythonInterpreterServer::start_ros_service() {
+void RosPythonInterpreterServer::start_ros_service(
+ const rclcpp::QoS& qos, rclcpp::CallbackGroup::SharedPtr group) {
run_python_command_callback_t runCommandCb =
std::bind(&RosPythonInterpreterServer::runCommandCallback, this,
std::placeholders::_1, std::placeholders::_2);
run_python_command_srv_ = ros_node_->create_service<RunPythonCommandSrvType>(
- "/dynamic_graph_bridge/run_python_command", runCommandCb);
+ "/dynamic_graph_bridge/run_python_command", runCommandCb, qos, group);
RCLCPP_INFO(
rclcpp::get_logger("dynamic_graph_bridge"),
"RosPythonInterpreterServer::start_ros_service - run_python_command...");
@@ -39,7 +40,7 @@ void RosPythonInterpreterServer::start_ros_service() {
std::bind(&RosPythonInterpreterServer::runPythonFileCallback, this,
std::placeholders::_1, std::placeholders::_2);
run_python_file_srv_ = ros_node_->create_service<RunPythonFileSrvType>(
- "/dynamic_graph_bridge/run_python_file", runPythonFileCb);
+ "/dynamic_graph_bridge/run_python_file", runPythonFileCb, qos, group);
RCLCPP_INFO(
rclcpp::get_logger("dynamic_graph_bridge"),
--
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