Hello, I’m trying to make a generic C++ application for controlling ROS robots. The idea is to allow design of GUIs in a higher-level language (QML) without requiring modifying the C++ when integrating new ROS systems.
However, now I’d like to do the same for calling services and actions. From looking at the code, it looks like a writing a “GenericClient” for services would mean creating a new subclass of
rclcpp::ClientBase and instantiating it with the relevant typesupport handle. Similarly for actions with
rclcpp_action::ClientBase. Or perhaps I am misreading it, and using the
ClientBase classes directly would suffice.
Is developing this functionality on any current roadmap, or has anybody attempted this before?