自适应服务类型客户端
完整示例代码
#include <rclcpp/rclcpp.hpp>
#include <memory>
template <typename ServiceType>
class ClientNode : public rclcpp::Node {
public:
ClientNode(const std::string &service_name)
: Node("client_node"), service_name_(service_name) {
client_ = this->create_client<ServiceType>(service_name_);
}
void send_request(const typename ServiceType::Request::SharedPtr &request) {
while (!client_->wait_for_service(std::chrono::seconds(1)