ROS学习笔记-2: 编写服务端与客户端

定义srv服务

roscd beginner_tutorials

mkdir srv

cd srv

touch AddTwoInts.srv

rosed beginner_tutorials AddTwoInts.srv (使用rosed需要安装vim)

srv文件分为请求和响应两部分，由'---‘分隔。在AddTwoInts.srv中输入代码：

int64 A

int64 B

---

int64 Sum

打开文件rosed beginner_tutorials package.xml,增加依赖，

<build_depend>message_generation</build_depend>

<run_depend>message_runtime</run_depend>

打开文件rosed beginner_tutorials CMakeLists.txt,增加依赖,

find_package(catkin REQUIRED COMPONENTS

  roscpp

  rospy

  std_msgs

  message_generation

)

add_service_files(

   FILES

   AddTwoInts.srv

)

generate_messages(

  DEPENDENCIES

  std_msgs

)

cd ~/catkin_ws

catkin_make

rossrv show beginner_tutorials/AddTwoInts (检查服务)

编写服务端节点

roscd beginner_tutorials/scripts

touch add_two_ints_server.py

chmod +x add_two_ints_server.py

rosed beginner_tutorials add_two_ints_server.py

在add_two_ints_server.py输入:

#!/usr/bin/env python
NAME = 'add_two_ints_server'
# import the AddTwoInts service
from beginner_tutorials.srv import *
import rospy 

def add_two_ints(req):
    print("Returning [%s + %s = %s]" % (req.a, req.b, (req.a + req.b)))
    sum = req.a + req.b
    return AddTwoIntsResponse(sum)

def add_two_ints_server():
    rospy.init_node(NAME)
    s = rospy.Service('add_two_ints', AddTwoInts, add_two_ints)
    print "Ready to add Two Ints"
    # spin() keeps Python from exiting until node is shutdown
    rospy.spin()

if __name__ == "__main__":
    add_two_ints_server()

cd ~/catkin_ws/

catkin_make

rosrun beginner_tutorials add_two_ints_server.py (新终端)

rosservice list (列出服务)

rosservice args /add_two_ints  (查看服务类型) (出错)

rosservice call /add_two_ints 1 2 (调用服务) (出错)

编写客户端节点

roscd beginner_tutorials/scripts

touch add_two_ints_client.py

chmod +x add_two_ints_client.py

rosed beginner_tutorials add_two_ints_client.py

在add_two_ints_client.py输入:

#!/usr/bin/env python
import sys
import os
import rospy
# imports the AddTwoInts service 
from rospy_tutorials.srv import *

## add two numbers using the add_two_ints service
## @param x int: first number to add
## @param y int: second number to add
def add_two_ints_client(x, y):
    # NOTE: you don't have to call rospy.init_node() to make calls against
    # a service. This is because service clients do not have to be
    # nodes.
    # block until the add_two_ints service is available
    # you can optionally specify a timeout
    rospy.wait_for_service('add_two_ints')
    try:
        # create a handle to the add_two_ints service
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
        print "Requesting %s+%s"%(x, y)
        # simplified style
        resp1 = add_two_ints(x, y)
        # formal style
        resp2 = add_two_ints.call(AddTwoIntsRequest(x, y))
        if not resp1.sum == (x + y):
            raise Exception("test failure, returned sum was %s"%resp1.sum)
        if not resp2.sum == (x + y):
            raise Exception("test failure, returned sum was %s"%resp2.sum)
        return resp1.sum
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e

def usage():
    return "%s [x y]"%sys.argv[0]

if __name__ == "__main__":
    argv = rospy.myargv()
    if len(argv) == 1:
        import random
        x = random.randint(-50000, 50000)
        y = random.randint(-50000, 50000)
    elif len(argv) == 3:
        try:
            x = int(argv[1])
            y = int(argv[2])
        except:
            print usage()
            sys.exit(1)
    else:
        print usage()
        sys.exit(1)
    print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))

cd ~/catkin_ws/

catkin_make

rosrun beginner_tutorials add_two_ints_client.py 4 5

编写客户端节点

roscd beginner_tutorials/scripts

touch add_two_ints_client.py

制作launch文件

http://www.ncnynl.com/archives/201611/1060.html