ROS SERVICE代码（部分）

最新推荐文章于 2025-01-19 17:22:23 发布

Zxy040319

最新推荐文章于 2025-01-19 17:22:23 发布

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本文链接：https://blog.csdn.net/Xhh030827/article/details/136759348

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本文展示了如何在ROS（RobotOperatingSystem）环境中创建一个服务节点，通过ServiceClientExMsg接口实现根据姓名查询学生信息的功能。代码中定义了info_inquiry回调函数，根据不同输入的姓名提供对应的学生信息。

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#include <ros/ros.h>
#include <service_client_pkg/ServiceClientExMsg.h>
#include <iostream>
#include <string>
using namespace std;

bool infoinquiry(service_client_pkg::ServiceClientExMsgRequest&request,service_client_pkg::ServiceClientExMsgResponse& response)
{
ROS_INFO("callback activated");
string input_name(request.name);
response.in_class=false;

if(input_name.compare("Tom") == 0)
{
ROS_INFO("Student information about Tom");
response.in_class=true;
response.boy=true;
response.age=20;
response.personality="outgoing";
}
if(input_name.compare("Mary") == 0)
{
ROS_INFO("Student information about Mary");
response.in_class=true;
response.boy=false;
response.age=21;
response.personality="introverted";
}
return true;
}

int main(int argc,char ** argv)
{

ros::init(argc,argv,"service_example_node");
ros::NodeHandle n;
ros::ServiceServer service =n.advertiseService("info_inquiry_byname", infoinquiry);
ROS_INFO("Ready to inquiry names.");
ros::spin();
return 0;
}

add_executable(service_example_node src/service_example_node.cpp)
add_dependencies(service_example_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(service_example_node ${catkin_LIBRARIES})