Environment manager base architecture implemented

env_manager/include/component_manager/client_component.hpp

@@ -0,0 +1,61 @@
+#ifndef ENV_MANAGER__COMPONENT_MANAGER__CLIENT_COMPONENT_HPP_
+#define ENV_MANAGER__COMPONENT_MANAGER__CLIENT_COMPONENT_HPP_
+
+#include "component_manager/visibility_control.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+#include <chrono>
+#include <cstdlib>
+#include <future>
+#include <memory>
+
+
+namespace env_manager
+{
+namespace component_manager
+{
+
+using namespace std::chrono_literals;
+
+const std::string DEFAULT_CLIENT_NODE_NAME = "env_manager_client_node";
+const std::string DEFAULT_CLIENT_NAME = "client";
+
+template <typename ServiceT>
+class ClientComponent: public rclcpp::Node
+{
+public:
+    explicit ClientComponent(const rclcpp::NodeOptions& options)
+        : Node(DEFAULT_CLIENT_NODE_NAME, options)
+    {
+        _client = create_client<ServiceT>(DEFAULT_CLIENT_NAME, 10);
+    }
+
+    virtual void callback(
+            typename rclcpp::Client<ServiceT>::SharedFuture future) = 0;
+
+    void populate_request(
+            const std::shared_ptr<typename ServiceT::Request>& request)
+    {
+        while (!_client->wait_for_service(1s)) 
+        {
+            if (rclcpp::ok()) 
+            {
+                RCLCPP_ERROR(this->get_logger(),
+                "Client interrupted while waiting for service. Terminating...");
+            }
+        }
+
+        auto result_future = _client->async_send_request(
+            request, std::bind(&ClientComponent::callback, 
+                               this, std::placeholders::_1));
+    }
+
+private:
+    typename rclcpp::Client<ServiceT>::SharedPtr _client;
+};
+
+} // namespace component_manager
+} // namespace env_manager
+
+#endif // ENV_MANAGER__COMPONENT_MANAGER__CLIENT_COMPONENT_HPP_