我们将创建一个服务器节点add_two_ints_server,它将会收到两个整数,并且返回它们的和。切换目录到之前建立的beginner_tutorials包下:
编辑src/add_two_ints_server.cpp文件:
将下面的代码复制到文件中,保存后退出:
cd ~/catkin_ws/src/beginner_tutorials
编辑src/add_two_ints_server.cpp文件:
vim src/add_two_ints_server.cpp
将下面的代码复制到文件中,保存后退出:
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
bool add(beginner_tutorials::AddTwoInts::Request &req,
beginner_tutorials::AddTwoInts::Response &res)
{
res.sum = req.a + req.b;
ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
ROS_INFO("sending back response: [%ld]", (long int)res.sum);
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_server");
ros::NodeHandle n;
ros::ServiceServer service &