ROS学习（5）：服务（service）编程

创建一个service节点（add_two_ints_server），该节点接收到两个整形数字，并返回它们的和。
在~/catkin_ws/src/ros_learning/src功能包里面创建add_two_ints_server.cpp和add_two_ints_client.cpp两个文件

1.编写server节点

#include "ros/ros.h"
#include "ros_learning/AddTwoInts.h"

//service回调函数，输入参数req，输出参数res
bool add(ros_learning::AddTwoInts::Request &req,ros_learning::AddTwoInts::Response &res)
{
	//将输入参数中打请求数据相加，结果放到应答变量中
	res.sum = req.a + req.b;
	ROS_INFO("request: x=%ld, y=%ld",(long int)req.a,(long int)req.b);
	ROS_INFO("sending back response: [%ld]",(long int)res.sum);

	return true;

}
int main(int argc,char **argv)
{
	//ROS节点初始化
	ros::init(argc,argv,"add_two_ints_server");

	//创建节点句柄
	ros::NodeHandle n;

	//创建一个名为add_two_ints的server,注册回调函数add()
	ros::ServiceServer service = n.advertiseService("add_two_ints",add);

	//循环等待回调函数
	ROS_INFO("Ready to add two ints.");
	ros::spin();

	return 0;
}

2.编写client节点

#include <cstdlib>
#include "ros/ros.h"
#include "ros_learning/AddTwoInts.h"

int main(int argc,char **argv)
{
	//ros节点初始化
	ros::init(argc,argv,"add_two_ints_client");

	//从终端命令行获取两个加数
	if(argc != 3)
	{
		ROS_INFO("usage: add_two_ints_client X Y");
		return 1;
	}
	
	//创建节点句柄
	ros::NodeHandle n;

	//创建一个client,请求add_two_ints,service消息类型是ros_learning::AddTwoInts
	ros::ServiceClient client = n.serviceClient<ros_learning::AddTwoInts>("add_two_ints");

	//创建ros_learning::AddTwoInts类型的service消息
	ros_learning::AddTwoInts srv;
	srv.request.a = atoll(argv[1]);
	srv.request.b = atoll(argv[2]);

	//发布service请求，等待加法运算打应答结果
	if(client.call(srv))
	{

		ROS_INFO("Sum: %ld",(long int)srv.response.sum);
	}
	else
	{
		ROS_INFO("Failed to call service add_two_ints");
		return 1;
	}
	
	return 0;
}

3.修改CMakeLists.txt文件

在CMakeLists.txt文件末尾添加：

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server ros_learning_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client ros_learning_gencpp)

4.编译文件

退出到~/catkin_ws执行：

catkin_make

到这已经编译成功!

5.运行节点

启动ros节点：

roscore

再打开一个终端运行server输入：

rosrun ros_learning add_two_ints_server

再打开一个终端运行client输入：

rosrun ros_learning add_two_ints_client 1234 4321

看到如下结果，执行成功！！！！！！