ROS2自定义服务接口

ROS2自定义服务接口
在src/village_interface 下构建srv文件夹
src/village_interface/srv 下新建一个BorrowMoney.srv 遵循大小写编程规范

# 客户端请求
string name
uint32 money
# 中间这三个横杠很重要 不能删掉
---
# 服务端响应
bool success
uint32 money

接口编译
修改cmakelists.txt

# find_package(sensor_msgs REQUIRED)  如果使用了 sensor_msgs下的数据类型
find_package(rosidl_default_generators REQUIRED) # 生成接口依赖

rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/BorrowMoney.srv"
  #  如果有该服务接口中的数据类型有依赖其他接口如sensor_msgs   
  应再加一句 DEPENDENCIES sensor_msgs  
)

如果使用了其他的依赖还要修改package.xml（以sensor_msgs为例）

  <depend>sensor_msgs</depend>
  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>

ros2 service call /borrow_money village_interface/srv/BorrowMoney "{name: "acan", money: 5}"
ros2 service call 服务名称 服务消息类型 消息内容

import rclpy
from rclpy.node import Node
from std_msgs.msg import String,UInt32
from village_interface.srv import BorrowMoney

class WriterNode(Node):

    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info('大家好，我是%s.' % name)
        # String 话题消息类型
        # "sexy_gril" 话题名
        # 10 话题发布类型
        # self.create_publisher(消息类型, 话题名, 发布频率)
        # 创建发布者
        self.pub_novel = self.create_publisher(String, "sexy_gril", 10)

        # self.create_subscription(消息类型,话题名,回调函数,队列长度)
        # 创建订阅者
        self.sub_money = self.create_subscription(UInt32,"sexy_gril_money",self.rev_money_callback,10)

        # 创建客户端
        self.borrow_server = self.create_service(BorrowMoney,"borrow_money",self.borrowmoney_callback)


        self.timer_period = 5
        self.timer = self.create_timer(self.timer_period,self.timer_callback)
        self.counter = 0

        self.count = 80

  

        # 创建服务端回调函数
    def borrowmoney_callback(self, request, response):
        """
        request: 来自客户端的请求数据
        response：来自服务端的响应数据
        """
        self.get_logger().info("收到来自：%s的请求，目前账户里有%d元"%(request.name,self.count))

        if request.money <= self.count * 0.1: 
            response.success = True
            response.money = request.money
            self.count -= request.money
            self.get_logger().info("借钱成功，借出%d元，目前账户结余%d"%(request.money,self.count))
        else:
            response.success = False
            response.money = 0
            self.get_logger().info("借钱失败！！")
        
        return response

    def timer_callback(self):
        msg = String()
        msg.data = '第%d回:潋滟湖 %d 次偶遇胡艳娘' %(self.counter,self.counter)
        self.pub_novel.publish(msg=msg)
        self.get_logger().info("发布消息: %s" % msg.data)
        self.counter = self.counter + 1

    def rev_money_callback(self,money):
        self.count = self.count + money.data
        self.get_logger().info("收到了%d的钱"%money.data)


def hello(args=None):

    rclpy.init(args=args)

    li3_node = WriterNode("li4")
    rclpy.spin(li3_node)
    rclpy.shutdown()