【ROS】rospy 服务端和客户端（Service and Client）

rospy L2: Service and Client

参考(http://wiki.ros.org/rospy_tutorials/Tutorials/WritingServiceClient)

1环境准备

基础路径同rospy L1: Publisher and Subscriber，软件包为beginner_tutorials

2 服务文件 srv

参考(http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv#Creating_a_srv)

3 service节点

文件: add_two_ints_server.py

#!/usr/bin/env python

from beginner_tutorials.srv import *
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_s