ROS服务数据的定义与使用

如何自定义话题消息：

• 定义srv文件；

//Person.srv
string name
uint8 age
uint8 sex

uint8 unknown=0
uint8 male =1
uint8 female =2
---
string result

• 在package.xml中添加功能包依赖

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

• 在CMakeLists.txt添加编译选项

find_package(...... message_generation)

add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)

catkin_package(...... message_runtime)

• 编译生成语言相关文件 

===============

如何实现一个服务端

• 初始化ROS节点
• 创建Server实例
• 循环等待服务请求，进入回调函数
• 在回调函数中完成服务功能的处理，并反馈应答数据。

person_server.cpp

//创建服务器代码（C++）
/**
* 该例程将执行 /show_person 服务，服务数据类型 learning_service::Person
*/
#include<ros/ros.h>
#include"learning_service/Person.h"

//service 回调函数，输入参数req,输出参数res
bool personCallback(learning_service::Person::Request &req,learning_service::Person::Response &res)
{
    //显示请求数据
    ROS_INFO("Person: name:%s age:%d sex:%d",req.name.c_str(),req.age,req.sex);

    //设置反馈数据
    res.result="OK";

    return true;
}   

int main(int argc,char **argv)
{
      //ROS节点初始化
      ros::init(argc,argv,"person_server");

      //创建节点句柄
      ros::NodeHandle n;
  

      //创建一个名为 /show_person 的server，注册回调函数personCallback
      ros::ServiceServer person_service=n.advertiseService("/show_person",personCallback);

      //循环等待回调函数
      ROS_INFO("Ready to show person information.");
      ros::spin();

      return 0;
}
      

==================

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

person_client.cpp

//创建客户端代码（C++）
/**
* 该例程将请求 /show_person 服务，服务数据类型 learning_service::Person
*/
#include<ros/ros.h>
#include"learning_service/Person.h"

int main(int argc,char **argv)
{
      //ROS节点初始化
      ros::init(argc,argv,"person_client");

      //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("/show_person);
      ros::ServiceClient person_client=node.serviceClient<learning_service::Person>("/show_person");

      //初始化learning_service::Person的请求数据
      learning_service::Person srv;
      srv.request.name="Tom";
      srv.request.age=20;
      srv.request.sex=learning_service::Person::Request::male;

      //请求服务调用
      ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]",srv.request.name.c_str(),srv.request.age,srv.request.sex);

      person_client.call(srv);

      //显示服务调用结果
      ROS_INFO("Show person result : %s",srv.response.result.c_str());

      return 0;
}
      

 ==================

配置代码编译规则

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
• 添加依赖项

  ## 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_executables(${PROJECT_NAME}_node src/learning_topic_node.cpp)
  
  ## Specify libraries to link a library or executable target against
  # target_link_libraries(${PROJECT_NAME}_node
  #    ${catkin_LIBRARIES}
  # )
  
  ## Add cmake target dependencies of the executable
  ## same as for the library above
  # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  
  add_executable(person_server src/person_server.cpp)
  target_link_libraries(person_server ${catkin_LIBRARIES})
  add_dependencies(person_server ${PROJECT_NAME}_gencpp)
  
  add_executable(person_client src/person_client.cpp)
  target_link_libraries(person_client ${catkin_LIBRARIES})
  add_dependencies(person_client ${PROJECT_NAME}_gencpp)
  

  

  ======================

  编译并运行服务端和客户端

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun learning_service person_server
rosrun learning_service person_client