std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,

std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,

std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,

const std::string & service_name,

const std::string & service_type,

const rclcpp::QoS & qos,

rclcpp::CallbackGroup::SharedPtr group)

{

rcl_client_options_t options = rcl_client_get_default_options();

options.qos = qos.get_rmw_qos_profile();

auto cli = rclcpp::GenericClient::make_shared(

node_base.get(),

node_graph,

service_name,

service_type,

options);

auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli);

node_services->add_client(cli_base_ptr, group);

return cli;