ROS学习笔记（八）：服务数据的定义和使用

一、创建功能包

1. $ cd ~/catkin_ws/src 要进入src文件夹才能创建功能包

2. $ 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

1. $ cd ~/catkin_ws/src/learning_service 要进入src文件夹才能创建功能包

2. $ mkdir srv 要进入src文件夹才能创建功能包

3. $ cd srv 要进入src文件夹才能创建功能包

4. $ touch Person.srv 要进入src文件夹才能创建功能包

5. $ 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

1. $ cd ~/catkin_ws/src/learning_service

2. $ 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

1. $ 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

1. $ catkin_make

三、创建服务器代码

1. $ cd ~/catkin_ws/src/learning_service/src

2. $ touch person_client.cpp

3. $ 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

1. $ touch person_server.cpp

2. $ 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

1. $ cd ~/catkin_ws/src/learning_service

2. $ 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

1. $ cd ~/catkin_ws 进入工作空间根目录

2. $ catkin_make 编译工作空间

3. $ source devel/setup.bash 设置环境变量

4. $ roscore 启动ROS Master

5. $ 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.

6. $ 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