Environment manager base architecture implemented

env_manager/include/component_manager/service_component.hpp

@@ -0,0 +1,39 @@
+#ifndef ENV_MANAGER__COMPONENT_MANAGER__SERVICE_COMPONENT_HPP_
+#define ENV_MANAGER__COMPONENT_MANAGER__SERVICE_COMPONENT_HPP_
+
+#include "component_manager/visibility_control.h"
+
+#include <rclcpp/node.hpp>
+
+namespace env_manager
+{
+namespace component_manager
+{
+
+const std::string DEFAULT_SERVICE_NDOE_NAME = "env_manager_service_node";
+const std::string DEFAULT_SERVICE_NAME = "service";
+
+template <typename ServiceT>
+class ServiceComponent: public rclcpp::Node
+{
+public:
+    explicit ServiceComponent(const rclcpp::NodeOptions& options)
+        : Node(DEFAULT_SERVICE_NDOE_NAME, options)
+    {
+        _service = create_service<ServiceT>(
+            DEFAULT_SERVICE_NAME, std::bind(
+                &ServiceComponent::callback, this, 
+                std::placeholders::_1, std::placeholders::_2));
+    }
+
+    virtual void callback(std::shared_ptr<typename ServiceT::Request> request,
+        std::shared_ptr<typename ServiceT::Response> response) = 0;
+
+private:
+    typename rclcpp::Service<ServiceT>::SharedPtr _service;
+};
+
+} // namespace component_manager
+} // namespace env_manager
+
+#endif // ENV_MANAGER__COMPONENT_MANAGER__SERVICE_COMPONENT_HPP_