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Adjust python usage of the type_description service API #1192

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Oct 30, 2023
Merged

Adjust python usage of the type_description service API #1192

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19 changes: 3 additions & 16 deletions rclpy/src/rclpy/type_description_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,25 +22,12 @@ namespace rclpy

TypeDescriptionService::TypeDescriptionService(Node & node)
{
rcl_ret_t ret = rcl_node_type_description_service_init(node.rcl_ptr());
auto srv_ptr = std::make_shared<rcl_service_t>();
rcl_ret_t ret = rcl_node_type_description_service_init(srv_ptr.get(), node.rcl_ptr());
if (RCL_RET_OK != ret) {
throw RCLError("Failed to initialize type description service");
}
rcl_service_t * srv_ptr = nullptr;
ret = rcl_node_get_type_description_service(node.rcl_ptr(), &srv_ptr);
if (RCL_RET_OK != ret) {
throw RCLError("Failed to retrieve type description service implementation");
}
std::shared_ptr<rcl_service_t> srv_shared(
srv_ptr,
[node](rcl_service_t * srv) {
(void)srv;
rcl_ret_t ret = rcl_node_type_description_service_fini(node.rcl_ptr());
if (RCL_RET_OK != ret) {
throw RCLError("Failed to finalize type description service");
}
});
service_ = std::make_shared<Service>(node, srv_shared);
service_ = std::make_shared<Service>(node, srv_ptr);
}

Service TypeDescriptionService::get_impl()
Expand Down