ROS服务srv文件

http://wiki.ros.org/msg

目录

1.创建工作空间

2.创建功能包

3.在src中创建example_ros_service.cpp文件

4.修改cmake文件

5.修改package.xml文件，在文件后添加

6.编译，生成.h文件，仅编译此功能包

7.运行

8.查看服务列表

---

1.创建工作空间

mkdir -p ~/test_ws/src 
cd ~/test_ws/src
catkin_init_workspace
cd ~/test_ws
catkin_make

2.创建功能包

cd ~/tets_ws/src
catkin_create_pkg example_ros_service roscpp std_msgs

在test_msg里创建srv文件夹，在里面创建ExampleServiceMsg.srv文件

string name
---
bool on_the_list
bool good_guy
int32 age
string nickname

3.在src中创建example_ros_service.cpp文件

#include <ros/ros.h>
#include <example_ros_service/ExampleServiceMsg.h>
#include <iostream>
#include <string>
using namespace std;

bool callback(example_ros_service::ExampleServiceMsgRequest& request,example_ros_service::ExampleServiceMsgResponse& response)
{
 ROS_INFO("callback activated");
 string in_name(request.name);
 response.on_the_list=false;
 if(in_name.compare("Bob")==0)
 {
   ROS_INFO("asked about Bob");
   response.age=32;
   response.good_guy=false;
   response.on_the_list=true;
   response.nickname="BobTheTerrible";
 }
 if(in_name.compare("Ted")==0)
 {
   ROS_INFO("asked about Ted");
   response.age=21;
   response.good_guy=true;
   response.on_the_list=true;
   response.nickname="Ted The Benevolent";
 }
 return true;
}
int main(int argc,char **argv)
{
 ros::init(argc,argv,"example_ros_service");
 ros::NodeHandle n;
 ros::ServiceServer service=n.advertiseService("lookup_by_name",callback);
ROS_INFO("Ready to look up names.");
ros::spin();
 
 return 0;
}

4.修改cmake文件

cmake_minimum_required(VERSION 3.0.2)
project(example_ros_service)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
)
add_service_files(FILES ExampleServiceMsg.srv)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(CATKIN_DEPENDS message_runtime)
include_directories(${catkin_INCLUDE_DIRS})
add_executable(test_srv src/example_ros_service.cpp)
add_dependencies(test_srv ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_srv ${catkin_LIBRARIES}) 

5.修改package.xml文件，在文件后添加

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

6.编译，生成.h文件，仅编译此功能包

catkin_make

7.运行

启动

roscore

cd test_ws
source devel/setup.bash
rosrun example_ros_service test_srv

8.查看服务列表

rosservice list

cd test_ws
source devel/setup.bash
rosservice call /lookup_by_name  'Ted'