ROS客户端Client的编程实现

创建功能包

cd ~/catkin_ws/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim

创建客户端代码（C++）

如何实现一个客户端

• 初始化ROS节点
• 创建一个Client实例
• 发布服务请求数据
• 等待Server处理之后的应答结果

/**
* 该例程将请求 /spawn 服务，服务数据类型 turtlesim::Spawn
*/
#include<ros/ros.h>
#include<turtlesim/Spawn.h>

int main(int argc,char** argv)
{
      //初始化ROS节点
      ros::init(argc,argv,"turtle_spawn");
 
      //创建节点句柄
      ros::NodeHandle node;

      //发现 /spawn 服务后，创建一个服务客户端，连接名为/spawn 的 service
      ros::service::waitForService("/spawn");
      ros::ServiceClient add_turtle=node.serviceClient<turtlesim::Spawn>("/spawn");

      //初始化turtlesim::Spawn的请求数据
      turtlesim::Spawn srv;
      srv.request.x=2.0;
      srv.request.y=2.0;
      srv.request.name="turtle2";

      //请求服务调用
      ROS_INFO("Call service to spawn turtle[x:%0.6f, y:%0.6f, name:%s]",srv.request.x,srv.request.y,srv.request.name.c_str());

      add_turtle.call(srv);

      //显示服务调用结果
      ROS_INFO("Spawn turtle successfully [name:%s]",srv.response.name.c_str());

      return 0;
}

 =================

配置客户端代码编译规则

如何配置CMakeList.txt中的编译规则

• 设置需要编译的代码和生成的可执行文件
• 设置链接库

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/learning_service_node.cpp)

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
#   )

add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})

 编译并运行客户端

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_spawn