ros2 foxy 学习3 - service 通讯

Services are another method of communication for nodes in the ROS graph. Services are based on a call-and-response model, versus topics’ publisher-subscriber model. While topics allow nodes to subscribe to data streams and get continual updates, services only provide data when they are specifically called by a client.

服务，是另外一种通讯方式，不同于topic 持续的，周期的。

服务是，事件类型的。 被客户端 请求了， 服务器端会响应。 响应结束，服务可能就结束了。

节点需要实现 客户端或服务端的逻辑。

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key
ros2 service list -t 

/clear
/kill
/reset
/spawn
/teleop_turtle/describe_parameters
/teleop_turtle/get_parameter_types
/teleop_turtle/get_parameters
/teleop_turtle/list_parameters
/teleop_turtle/set_parameters
/teleop_turtle/set_parameters_atomically
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/describe_parameters
/turtlesim/get_parameter_types
/turtlesim/get_parameters
/turtlesim/list_parameters
/turtlesim/set_parameters
/turtlesim/set_parameters_atomically

基本上任意一个节点 ，都调用上面这6个服务。 （参数设置，读取， 基本的一些函数？）

服务类型： service type--

服务就是通讯方式，通讯的内容=service type中定义 （类比 topic, 的message,区别是topic 发布和订阅 ，message数据结构类型一样），服务，可能请求是一个消息类型，响应又是一个。（容易理解，有时候可能没有响应。）

Services have types that describe how the request and response data of a service is structured. Service types are defined similarly to topic types, except service types have two parts: one message for the request and another for the response.

ros2 service type <service_name>

返回std_srvs/srv/Empty ...空表示，没有内容

ros2 service list -t

查询全部服务和他们的类型

反过来， 通过服务类型。来查哪些服务用了

ros2 service find <xx service type>

ros2 service find std_srvs/srv/Empty

返回：

/clear

/kill

ros2 interface show < type name>.srv

（和查看message 定义一样，就多了蓝色部分的后缀。）

ros2 interface show std_srvs/srv/Empty
---
luke@pc:~/Desktop$ ros2 interface show turtlesim/srv/Spawn
float32 x
float32 y
float32 theta
string name # Optional.  A unique name will be created and returned if this is empty
---
string name（注：小乌龟，构造，出生地点，名字..）
luke@pc:~/Desktop$ ros2 interface show rcl_interfaces/srv/SetParameters
# A list of parameters to set.
Parameter[] parameters  (注 Parameter 数据类型， 多个）

---
# Indicates whether setting each parameter succeeded or not and why.
SetParametersResult[] results
luke@pc:~/Desktop$ ros2 interface show rcl_interfaces/srv/GetParameters
# TODO(wjwwood): Decide on the rules for grouping, nodes, and parameter "names"
# in general, then link to that.
#
# For more information about parameters and naming rules, see:
# https://design.ros2.org/articles/ros_parameters.html
# https://github.com/ros2/design/pull/241

# A list of parameter names to get.
string[] names

---
# List of values which is the same length and order as the provided names. If a
# parameter was not yet set, the value will have PARAMETER_NOT_SET as the
# type.
ParameterValue[] values
luke@pc:~/Desktop$ ros2 interface show rcl_interfaces/srv/ListParameters
# Recursively get parameters with unlimited depth.
uint64 DEPTH_RECURSIVE=0

# The list of parameter prefixes to query.
string[] prefixes

# Relative depth from given prefixes to return.
#
# Use DEPTH_RECURSIVE to get the recursive parameters and prefixes for each prefix.
uint64 depth

---
# The list of parameter names and their prefixes.
ListParametersResult result

调用服务：

ros2 service call <service_name> <service_type> <arguments>

（类比 ros2 topic pub <topic name> <topic type> <opts>）

 

总结：

Nodes can communicate using services in ROS 2. Unlike a topic - a one way communication pattern where a node publishes information that can be consumed by one or more subscribers - a service is a request/response pattern where a client makes a request to a node providing the service and the service processes the request and generates a response.

服务也是节点的一种通讯方式， 和topic一样。

区别是：

topic 是单向的， A 节点到B节点 （或1对多个节点）

service是C/S 形式，一个请求，一个响应。