服务是ROS2一种通信方式,具有以下特点:
1 客户端,服务器模型:不同于话题单向通信,服务可以进行双向通信,客户端发起请求,服务器端进行应答
2 同步通信机制:通信双端同步通信,如果一方无法收到会发送另一端
3 服务端唯一,客户端不唯一:一对多通信
4 .srv文件定义请求和应答数据结构:服务通信消息类型为.srv
示例1 加法计算器
客户端
import sys
import rclpy
from rclpy.node import Node
from learning_interface.src import AddTwoInts
class adderClient(Node):
def __init__(self, name):
super().__init__(name)
self.client = self.create_client(AddTwoInts, 'add_two_ints')
while not self.client.wait_for_service(timeout_sec = 1.0):
self.get_logger().info('service not available, waiting again...')
self.request = AddTwoInts.Request()
def send_request(self):
self.request.a = int(sys.argv[1])
self.request.b = int(sys.argv[2])
self.future = self.client.call_async(self.request)
def main(args=None)
rclpy.init(args=args)
node = adderClient("service_adder_client")
node.send_request()
while rclpy.ok():
rclpy.spin_once(node)
if node.future.done():
try:
response = node.future.result()
except Exception as e:
node.get_logger().info('Service call failed %r' % (e,))
else:
node,get_logger().info('Result of add_two_ints: for %d + %d = %d' % (node.request.a, node.request.b, response.sum