ROS编写简单的Service和Client (Python)

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写一个学习笔记方便自己以后回查

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写一个服务节点

我们写一个服务节点,请求两个int, 返回这两个int的和

roscd beginner_tutorials

在此之前请确保你搞过之前那个srv文件和msg文件的教程

源码

在 scripts/add_two_ints_server.py 文件下粘贴上下面的源码

#!/usr/bin/env python

from __future__ import print_function

from beginner_tutorials.srv import AddTwoInts,AddTwoIntsResponse
import rospy

def handle_add_two_ints(req):
    print("Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b)))
    return AddTwoIntsResponse(req.a + req.b)

def add_two_ints_server():
    rospy.init_node('add_two_ints_server')
    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
    print("Ready to add two ints.")
    rospy.spin()

if __name__ == "__main__":
    add_two_ints_server()

#!/usr/bin/env python

from future import print_function

import sys
import rospy
from beginner_tutorials.srv import *

def add_two_ints_client(x, y):
rospy.wait_for_service(‘add_two_ints’)
try:
add_two_ints = rospy.ServiceProxy(‘add_two_ints’, AddTwoInts)
resp1 = add_two_ints(x, y)
return resp1.sum
except rospy.ServiceException as e:
print(“Service call failed: %s”%e)

def usage():
return “%s [x y]”%sys.argv[0]

if name == “main”:
if len(sys.argv) == 3:
x = int(sys.argv[1])
y = int(sys.argv[2])
else:#!/usr/bin/env python

from future import print_function

import sys
import rospy
from beginner_tutorials.srv import *

def add_two_ints_client(x, y):
rospy.wait_for_service(‘add_two_ints’)
try:
add_two_ints = rospy.ServiceProxy(‘add_two_ints’, AddTwoInts)
resp1 = add_two_ints(x, y)
return resp1.sum
except rospy.ServiceException as e:
print(“Service call failed: %s”%e)

def usage():
return “%s [x y]”%sys.argv[0]

if name == “main”:
if len(sys.argv) == 3:
x = int(sys.argv[1])
y = int(sys.argv[2])
else:
print(usage())
sys.exit(1)
print(“Requesting %s+%s”%(x, y))
print("%s + %s = %s"%(x, y, add_two_ints_client(x, y)))
print(usage())
sys.exit(1)
print(“Requesting %s+%s”%(x, y))
print("%s + %s = %s"%(x, y, add_two_ints_client(x, y)))最后别忘了改变py文件的执行权限

scripts/add_two_ints_server.py 

并且在CMakeLists.txt里增加修改代码片段如下

catkin_install_python(PROGRAMS scripts/add_two_ints_server.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

代码的解释在下面注释

#!/usr/bin/env python

from __future__ import print_function

from beginner_tutorials.srv import AddTwoInts,AddTwoIntsResponse   # 这个包是真的没看懂
import rospy      

def handle_add_two_ints(req):
    print("Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b)))
    return AddTwoIntsResponse(req.a + req.b)    # 返回一个值

def add_two_ints_server():
    rospy.init_node('add_two_ints_server')      # 初始化这个节点名字叫 add_two_ints_server
    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints) # 运行一个服务
                                                # 名字叫 add_two_ints  接收参数为AddTwoInts,执行
                                                # handle_add_two_ints()
    print("Ready to add two ints.")
    rospy.spin()

if __name__ == "__main__":
    add_two_ints_server()

写一个客户端节点

源码

在scripts/add_two_ints_client.py 文件下粘贴上下面的源码:

#!/usr/bin/env python
from __future__ import print_function

import sys
import rospy
from beginner_tutorials.srv import *

def add_two_ints_client(x, y):
    rospy.wait_for_service('add_two_ints')
    try:
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
        resp1 = add_two_ints(x, y)
        return resp1.sum
    except rospy.ServiceException as e:
        print("Service call failed: %s"%e)

def usage():
    return "%s [x y]"%sys.argv[0]

if __name__ == "__main__":
    if len(sys.argv) == 3:
        x = int(sys.argv[1])
        y = int(sys.argv[2])
    else:
        print(usage())
        sys.exit(1)
    print("Requesting %s+%s"%(x, y))
    print("%s + %s = %s"%(x, y, add_two_ints_client(x, y)))

最后别忘了改变py文件的执行权限

scripts/add_two_ints_client.py 

并且在CMakeLists.txt里增加修改代码片段如下

catkin_install_python(PROGRAMS scripts/add_two_ints_server.py /script/add_two_ints_server.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

测试自己写的服务端和客户端节点

1. 先setup 工作空间
   
2. catkin_make编译

4. rosrun beginner_tutorials add_two_ints_server.py 确认代码执行成功,启动服务节点
5. 
   这里要你启动rosmaster, 那么我们新终端启动核心 roscore

它就ready 了

7. 新终端rosrun beginner_tutorials add_two_ints_client.py 确认代码执行成功,启动客户端节点
   

8. rosrun beginner_tutorials add_two_ints_client.py 4 5 发送请求
   

9. 查看客户端接受到请求

10. 查看服务端表示响应了请求

参考文献

ROS官方教程