Add a client lambda example and remove unused header

Author: threeal

rclcpp/services/minimal_client/CMakeLists.txt

@@ -14,15 +14,19 @@ find_package(ament_cmake REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 
-add_executable(client_not_composable not_composable.cpp)
-ament_target_dependencies(client_not_composable rclcpp example_interfaces)
+add_executable(client_lambda lambda.cpp)
+ament_target_dependencies(client_lambda rclcpp example_interfaces)
 
 add_executable(client_member_function member_function.cpp)
 ament_target_dependencies(client_member_function rclcpp example_interfaces)
 
+add_executable(client_not_composable not_composable.cpp)
+ament_target_dependencies(client_not_composable rclcpp example_interfaces)
+
 install(TARGETS
-  client_not_composable
+  client_lambda
   client_member_function
+  client_not_composable
   DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)

rclcpp/services/minimal_client/lambda.cpp

@@ -0,0 +1,67 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <chrono>
+#include <cinttypes>
+#include <memory>
+
+#include "example_interfaces/srv/add_two_ints.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+using example_interfaces::srv::AddTwoInts;
+
+/* This example creates a subclass of Node and uses std::bind() to register a
+ * member function as a callback from the client. */
+
+class MinimalClient : public rclcpp::Node
+{
+public:
+  MinimalClient()
+  : Node("minimal_client")
+  {
+    client_ = this->create_client<AddTwoInts>("add_two_ints");
+    while (!client_->wait_for_service(1s)) {
+      if (!rclcpp::ok()) {
+        RCLCPP_ERROR(this->get_logger(), "client interrupted while waiting for service to appear.");
+      }
+      RCLCPP_INFO(this->get_logger(), "waiting for service to appear...");
+    }
+    auto request = std::make_shared<AddTwoInts::Request>();
+    request->a = 41;
+    request->b = 1;
+    auto result_future = client_->async_send_request(
+      request,
+      [this](rclcpp::Client<AddTwoInts>::SharedFutureWithRequest result_future) {
+        auto result = result_future.get();
+        auto request = result.first;
+        auto response = result.second;
+        RCLCPP_INFO(
+          this->get_logger(), "result of %" PRId64 " + %" PRId64 " = %" PRId64,
+          request->a, request->b, response->sum);
+        rclcpp::shutdown();
+      });
+  }
+
+private:
+  rclcpp::Client<AddTwoInts>::SharedPtr client_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalClient>());
+  rclcpp::shutdown();
+  return 0;
+}

rclcpp/services/minimal_service/CMakeLists.txt

@@ -25,8 +25,8 @@ ament_target_dependencies(service_not_composable rclcpp example_interfaces)
 
 install(TARGETS
   service_lambda
-  service_not_composable
   service_member_function
+  service_not_composable
   DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)

rclcpp/services/minimal_service/lambda.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <cinttypes>
-#include <functional>
 #include <memory>
 
 #include "example_interfaces/srv/add_two_ints.hpp"

rclcpp/services/minimal_service/member_function.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <cinttypes>
-#include <functional>
 #include <memory>
 
 #include "example_interfaces/srv/add_two_ints.hpp"

rclcpp/topics/minimal_publisher/member_function.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <chrono>
-#include <functional>
 #include <memory>
 #include <string>
 

rclcpp/topics/minimal_publisher/member_function_with_type_adapter.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <chrono>
-#include <functional>
 #include <memory>
 #include <string>
 

rclcpp/topics/minimal_publisher/member_function_with_unique_network_flow_endpoints.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <chrono>
-#include <functional>
 #include <memory>
 #include <sstream>
 #include <string>

rclcpp/topics/minimal_subscriber/member_function.cpp

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <functional>
 #include <memory>
 
 #include "rclcpp/rclcpp.hpp"

rclcpp/topics/minimal_subscriber/member_function_with_type_adapter.cpp

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <functional>
 #include <memory>
 #include <string>
 

rclcpp/topics/minimal_subscriber/member_function_with_unique_network_flow_endpoints.cpp

@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
-#include <functional>
 #include <memory>
 #include <sstream>
 #include <string>