一、创建功能包
-
$ cd ~/catkin_ws/src
要进入src文件夹才能创建功能包 -
$ catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
创建learning_service功能包
二、自定义服务数据
(一)、定义srv文件
-
$ cd ~/catkin_ws/src/learning_service
要进入src文件夹才能创建功能包 -
$ mkdir srv
要进入src文件夹才能创建功能包 -
$ cd srv
要进入src文件夹才能创建功能包 -
$ touch Person.srv
要进入src文件夹才能创建功能包 -
$ gedit Person.srv
要进入src文件夹才能创建功能包
在其中输入
string name
uint8 age
uint8 sex
uint8 unknown = 0
uint8 male = 1
uint8 female = 2
---
string result
其中,三条横线 ---
以上是request内容,以下是response内容
注:
- 后面在编译生成语言相关文件时,会生成
Person.h
、PersonRequest.h
、PersonResponse.h
这三个文件,就是因为三条横线区分开了request和response,Person.h
本身包含了后两者,因此在配置客户端和服务器代码时,只需要包含Person.h
即可
(二)、在package.xml中添加功能包依赖
-
$ cd ~/catkin_ws/src/learning_service
-
$ gedit package.xml
在倒数第7行之后插入代码
<build_depend>message_generation</build_depend>
<!-- build_depend为编译依赖,依赖于message_generation的功能包 -->
<exec_depend>message_runtime</exec_depend> <!-- exec_depend为执行依赖,依赖于message_runtime功能包 -->
则package.xml文件内容为
<?xml version="1.0"?>
<package format="2">
<name>learning_service</name>
<version>0.0.0</version>
<description>The learning_service package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="lacyexsale@todo.todo">lacyexsale</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/learning_service</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>turtlesim</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>turtlesim</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>turtlesim</exec_depend>
<build_depend>message_generation</build_depend>
<!-- build_depend为编译依赖,依赖于message_generation的功能包 -->
<exec_depend>message_runtime</exec_depend> <!-- exec_depend为执行依赖,依赖于message_runtime功能包 -->
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
(三)、在CMakeLists.txt添加编译选项
-
$ gedit CMakeLists.txt
- 在开头的find_package中插入
message_generation
- 在
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
之前插入
add_service_files(FILES Person.srv)
#把之前创建的Person.msg文件作为数据接口
generate_messages(DEPENDENCIES std_msgs)
#说明在对Person.msg文件进行编译时依赖哪些已有的功能包
- 在大概第110行的catkin_package的
CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim
这一行添加
message_runtime
(如果这一行被注释就取消这一行的注释)
(四)、编译生成语言相关文件
-
$ catkin_make
三、创建服务器代码
-
$ cd ~/catkin_ws/src/learning_service/src
-
$ touch person_client.cpp
-
$ gedit person_client.cpp
输入
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 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 informtion.");
ros::spin();
return 0;
}
四、创建客户端代码
-
$ touch person_server.cpp
-
$ gedit person_server.cpp
输入
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 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)
{
// 初始化ROS节点
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;
};
五、配置服务器/客户端代码编译规则
-
$ cd ~/catkin_ws/src/learning_service
-
$ gedit CMakeLists.txt
在
#############
## Install ##
#############
之前输入
add_executable(person_server src/person_server.cpp) ##person_publisher.cpp编译成pose_subscriber可执行文件
target_link_libraries(person_server ${catkin_LIBRARIES}) ##将可执行文件person_publisher通过catkin_LIBRARIES与ros的一些库做连接
add_dependencies(person_server ${PROJECT_NAME}_gencpp) ##与动态生成的头文件作链接
add_executable(person_client src/person_client.cpp) ##person_subscriber.cpp编译成pose_subscriber可执行文件
target_link_libraries(person_client ${catkin_LIBRARIES}) ##将可执行文件person_subscriber通过catkin_LIBRARIES与ros的一些库做连接
add_dependencies(person_client ${PROJECT_NAME}_gencpp) ##与动态生成的头文件作链接
六、编译并运行客户端和服务端
-
$ cd ~/catkin_ws
进入工作空间根目录 -
$ catkin_make
编译工作空间 -
$ source devel/setup.bash
设置环境变量 -
$ roscore
启动ROS Master -
$ rosrun learning_service person_server
启动服务端
回车,服务端提示
[ INFO] [1621426128.380193988]: Ready to show person informtion.
-
$ rosrun learning_service person_client
启动客户端
回车,客户端提示
[ INFO] [1621426173.241542513]: Call service to show person[name:Tom, age:20, sex:1]
[ INFO] [1621426173.243404800]: Show person result : OK
同时,服务端提示
[ INFO] [1621426173.243300742]: Person: name:Tom age:20 sex:1
注:
- 在运行其他程序(如同名程序)时,记得把roscore先关闭,再启动一遍,否则可能会造成一些未知错误