操作演示,对 service 通信的理解请看:点击打开链接
1. 使用 rosservice
1.1 rosservice list
假设小乌龟节点仍在运行 rosrun turtlesim turtlesim_node运行:
rosservice list
结果:
list 命令显示turtlesim节点提供了9个服务:重置(reset), 清除(clear), 再生(spawn), 终止(kill), turtle1/set_pen, /turtle1/teleport_absolute, /turtle1/teleport_relative, turtlesim/get_loggers, and turtlesim/set_logger_level. 同时还有另外两个rosout节点提供的服务: /rosout/get_loggers and /rosout/set_logger_level.
1.2 rosservice type
命令格式:
rosservice call