第一步:
首先要在beginner_tutorials中新建一个srv文件夹。文件夹中新建一个AddTwoInts.srv文件(也可以从rospy_tutorials的srv中复制过来)。该文件内容如下:
int64 a
int64 b
---
int64 sum
加了这个文件之后需对CMakeList.txt修改一下
首先将:
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
改成:
add_service_files(
FILES
AddTwoInts.srv
)
再把:
# generate_messages(
# DEPENDENCIES
# # std_msgs # Or other packages containing msgs
# )
改成:
generate_messages(
DEPENDENCIES
std_msgs
)
还有在
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)
后面加上message_generation
对应的package.xml文件里的依赖项也要把message_generation加上。
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
第二步:
编写add_two_ints_server和add_two_ints_client两个C++源文件。
add_two_ints_server:
#include"ros/ros.h"
#include"beginner_tutorials/AddTwoInts.h"//编译系统自动根据我们先前创建的srv文件生成的对应该srv文件的头文件。
bool add(beginner_tutorials::AddTwoInts::Request &req,beginner_tutorials::AddTwoInts::Response &res)
{
res.sum=req.a+req.b;
ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
ROS_INFO("sending back response: [%ld]", (long int)res.sum);
return true;
}//int值从request里面获取,而返回数据装入response内,这些数据类型都定义在srv文件内部,函数返回一个boolean值。
int main(int argc, char *argv[])
{
ros::init(argc, argv, "add_two_ints_server");
ros::NodeHandle n;
ros::ServiceServer service=n.advertiseService("add_two_ints",add);//service已经建立起来,并在ROS内发布出来
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
add_two_ints_client:
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_client");
if (argc != 3)
{
ROS_INFO("usage: add_two_ints_client X Y");
return 1;
}//判断参数够不够
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");//为add_two_ints service创建一个client
beginner_tutorials::AddTwoInts srv;//实例化一个service类,并给其中的request成员赋值
srv.request.a = atoll(argv[1]);
srv.request.b = atoll(argv[2]);
if (client.call(srv))//调用service
{
ROS_INFO("Sum: %ld", (long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service add_two_ints");
return 1;
}
return 0;
}
上述两步完成后,就可以按照之前说的用RoboWare-Studio对其进行编译。
最后就是测试:
$ cd ~/catkin_ws
$ source ./devel/setup.bash
$ rosrun beginner_tutorials add_two_ints_server
$ rosrun beginner_tutorials add_two_ints_client 1 3