ROS手动编写服务端和客户端service demo(C++)

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service demo

原理和 topic 通信方式很像 点击打开链接,因此

1.srv :

进入 service_demo 创建 srv 文件夹,创建 Greeting.srv,将以下代码插入:

string name
int32 age
---
string feedback

这个意思是 client 将自己的名称和年龄发给 server,server 会返回一个字符串。

2.server.cpp

进入 src 文件夹,编写 server.cpp

// 加载必要文件,注意Service_demo的加载方式
# include "ros/ros.h"
# include "service_demo/Greeting.h"
# include "string"

// 定义请求处理函数
bool handle_function(service_demo::Greeting::Request &req,
                                        service_demo::Greeting::Response &res)
{
        // 此处我们对请求直接输出
        ROS_INFO("Request from %s with age %d ", req.name.c_str(), req.age);

        // 返回一个反馈,将response设置为"..."
        res.feedback = "Hi " + req.name + ". I'm server!";
        return true;
}

int main(int argc, char **argv)
{
        // 初始化节点,命名为"greetings_server"
        ros::init(argc, argv, "greetings_server");

        // 定义service的server端,service名称为“greetings”,收到request请求之后>传递给handle_function进行处理
        ros::NodeHandle nh;
        ros::ServiceServer service = nh.advertiseService("greetings", handle_function);
        
        ros::spin();
        return 0;
}

3.client.cpp

# include "ros/ros.h"
# include "service_demo/Greeting.h"

int main(int argc, char **argv)
{
        // 初始化,节点命名为"greetings_client"
        ros::init(argc, argv, "greetings_client");

        // 定义service客户端,service名字为“greetings”,service类型为Service_demo
        ros::NodeHandle nh;
        ros::ServiceClient client = nh.serviceClient<service_demo::Greeting>("greetings");

        // 实例化srv,设置其request消息的内容,这里request包含两个变量,name和age,见Greeting.srv
        service_demo::Greeting srv;
        srv.request.name = "HAN";
        srv.request.age = 20;
        if (client.call(srv))
        {
                // 注意我们的response部分中的内容只包含一个变量response,另,注>意将其转变成字符串
                ROS_INFO("Response from server: %s", srv.response.feedback.c_str());
        }
        else
        {
                ROS_ERROR("Failed to call service Service_demo");
                return 1;
        }
        return 0;
}

4.CMakeLists.txt & package.xml




5.编译运行

先运行 server ,再运行 client ,结果就不展示了。

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