Merged two functions into one

common/module.hpp

@@ -82,29 +82,6 @@ class Module : public rclcpp::Node {
  const std::string& topic,
  const rclcpp::Logger& logger);
 
- /*! \brief This helper function is performs a service call given a client and yields a response.
- * \tparam Srv The name of the service to request.
- * \param timeout The timeout for the service call.
- * \param client The client to use to request the service.
- * \param response The response of the service.
- * \return The response of the service.
- */
- template <typename Srv>
- bool callService( const std::chrono::duration< double > &timeout,
- std::shared_ptr<rclcpp::Client<Srv>> &client,
- std::shared_ptr<typename Srv::Response> &response)
-{
- auto request = std::make_shared<typename Srv::Request>();
- auto promise = client->async_send_request(request);
- if (rclcpp::spin_until_future_complete(get_node_base_interface(), promise, timeout) ==
- rclcpp::FutureReturnCode::SUCCESS) {
- response = promise.get();
- return true;
- } else {
- RCLCPP_ERROR(get_logger(), "Failed to call service %s", client->get_service_name());
- return false;
- }
- }
 
  /**
  * @brief This helper function is performs a service call given a client and yields a response. This
@@ -113,15 +90,15 @@ class Module : public rclcpp::Node {
  * @tparam Srv Srv The name of the service to request.
  * @param timeout The timeout for the service call.
  * @param client The client to use to request the service.
- * @param request The request of the service, with the data to be sent.
  * @param response The response of the service.
+ * @param request The request of the service, with the data to be sent. Defaults to an empty request.
  * @return The response of the service.
  */
  template <typename Srv>
  bool callService( const std::chrono::duration< double > &timeout,
  std::shared_ptr<rclcpp::Client<Srv>> &client,
- std::shared_ptr<typename Srv::Request> &request,
- std::shared_ptr<typename Srv::Response> &response)
+ std::shared_ptr<typename Srv::Response> &response,
+ std::shared_ptr<typename Srv::Request> request = std::make_shared<typename Srv::Request>())
 {
  auto promise = client->async_send_request(request);
  if (rclcpp::spin_until_future_complete(get_node_base_interface(), promise, timeout) ==

modules/IntegrationTesting/src/scenarioexecution.cpp

@@ -68,7 +68,7 @@ std::vector<std::pair<double, double>> ScenarioExecution::getTrajectoryPoints()
  auto request = std::make_shared<atos_interfaces::srv::GetObjectTrajectory::Request>();
  request->id = 1;
  std::shared_ptr<atos_interfaces::srv::GetObjectTrajectory::Response> response;
- this->callService(1000ms, getObjectTrajectoryClient, request, response);
+ this->callService(1000ms, getObjectTrajectoryClient, response, request);
 
  std::vector<std::pair<double, double>> trajectory;
  for (const auto& t : response->trajectory.points) {