service methods fixed

Author: mgonzs13

simple_node/include/simple_node/node.hpp

@@ -7,6 +7,7 @@
 #include <thread>
 
 #include "rclcpp/executor.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "simple_node/actions/action_client.hpp"
@@ -118,22 +119,23 @@ class Node : public rclcpp::Node {
   }
 
   template <typename ServiceT>
-  typename rclcpp::Client<ServiceT>::SharedPtr
-  create_client(const std::string &service_name,
-                const rmw_qos_profile_t &qos_profile) {
+  typename rclcpp::Client<ServiceT>::SharedPtr create_client(
+      const std::string &service_name,
+      const rmw_qos_profile_t &qos_profile = rmw_qos_profile_services_default) {
     return rclcpp::create_client<ServiceT>(
-        node_base_, node_graph_, node_services_,
+        this->get_node_base_interface(), this->get_node_graph_interface(),
+        this->get_node_services_interface(),
         rclcpp::extend_name_with_sub_namespace(service_name,
                                                this->get_sub_namespace()),
         qos_profile, this->group);
   }
 
   template <typename ServiceT, typename CallbackT>
-  typename rclcpp::Service<ServiceT>::SharedPtr
-  create_service(const std::string &service_name, CallbackT &&callback,
-                 const rmw_qos_profile_t &qos_profile) {
+  typename rclcpp::Service<ServiceT>::SharedPtr create_service(
+      const std::string &service_name, CallbackT &&callback,
+      const rmw_qos_profile_t &qos_profile = rmw_qos_profile_services_default) {
     return rclcpp::create_service<ServiceT, CallbackT>(
-        node_base_, node_services_,
+        this->get_node_base_interface(), this->get_node_services_interface(),
         rclcpp::extend_name_with_sub_namespace(service_name,
                                                this->get_sub_namespace()),
         std::forward<CallbackT>(callback), qos_profile, this->group);