[ros_python_interpreter] Add the possibility to get the callback_group of reentrant type.

Author: olivier-stasse

include/dynamic_graph_bridge/ros_python_interpreter_server.hpp

@@ -85,8 +85,11 @@ class RosPythonInterpreterServer {
   /**
    * @brief start_ros_service advertize the "run_python_command" and
    * "run_python_scripts" ros services
+   * @param qos: Quality of Service
+   * @param callback_group: Callback group
    */
-  void start_ros_service();
+  void start_ros_service(const rclcpp::QoS& qos = rclcpp::ServicesQoS(),
+                         rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
  protected:
   /**

src/ros_python_interpreter_server.cpp

@@ -25,12 +25,13 @@ RosPythonInterpreterServer::RosPythonInterpreterServer()
 
 RosPythonInterpreterServer::~RosPythonInterpreterServer() {}
 
-void RosPythonInterpreterServer::start_ros_service() {
+void RosPythonInterpreterServer::start_ros_service(
+    const rclcpp::QoS& qos, rclcpp::CallbackGroup::SharedPtr group) {
   run_python_command_callback_t runCommandCb =
       std::bind(&RosPythonInterpreterServer::runCommandCallback, this,
                 std::placeholders::_1, std::placeholders::_2);
   run_python_command_srv_ = ros_node_->create_service<RunPythonCommandSrvType>(
-      "/dynamic_graph_bridge/run_python_command", runCommandCb);
+      "/dynamic_graph_bridge/run_python_command", runCommandCb, qos, group);
   RCLCPP_INFO(
       rclcpp::get_logger("dynamic_graph_bridge"),
       "RosPythonInterpreterServer::start_ros_service - run_python_command...");
@@ -39,7 +40,7 @@ void RosPythonInterpreterServer::start_ros_service() {
       std::bind(&RosPythonInterpreterServer::runPythonFileCallback, this,
                 std::placeholders::_1, std::placeholders::_2);
   run_python_file_srv_ = ros_node_->create_service<RunPythonFileSrvType>(
-      "/dynamic_graph_bridge/run_python_file", runPythonFileCb);
+      "/dynamic_graph_bridge/run_python_file", runPythonFileCb, qos, group);
 
   RCLCPP_INFO(
       rclcpp::get_logger("dynamic_graph_bridge"),