Service introspection - #1985
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This has been substantially rewritten now, so I'm going to dismiss all of the review comments, and pull this out of draft. |
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Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
To do this, we add a new method on the Client and Service classes that allows the user to change the introspection method at runtime. These end up calling into the rcl layer to do the actual configuration, at which point service introspection messages will be sent as configured. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@gmail.com>
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CI for this is in ros2/ros2#1285 (comment) |
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* Implementation of service introspection. To do this, we add a new method on the Client and Service classes that allows the user to change the introspection method at runtime. These end up calling into the rcl layer to do the actual configuration, at which point service introspection messages will be sent as configured. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
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This PR is part of a prototype implementation for ros-infrastructure/rep#360 ros2/ros2#1285.
Depends on: ros2/rcl#997