Template Class ServiceTask#

Inheritance Relationships#

Base Type#

Class Documentation#

template<typename MessageT>
class ServiceTask : public corail_core::ReactiveTask#

Use ReactiveTask to implement a realtime ROS 2 service.

See

See also

(ReactiveTask).

Public Functions

inline ServiceTask(const std::string &name, int cpu, int priority, std::chrono::nanoseconds period, std::chrono::nanoseconds jitter, typename ServT::SharedPtr serv)#

Construct a new Service Task object.

The task is created in init state.

Parameters

  • name – [in] The name of the task.

  • cpu – [in] The cpu on which the task will execute.

  • priority – [in] The priority of the task (higher priority first).

  • period – [in] The periode of the task.

  • jitter – [in] The jitter of the task.

  • callback – [in] The function to execute at each periode.

inline ~ServiceTask()#

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