在beginner_tutorials,新建srv服务目录,新建AddTwoInts.srv文件
$ roscd beginner_tutorials
$ mkdir srv
$ cd srv
$ touch AddTwoInts.srv
$ rosed beginner_tutorials AddTwoInts.srv
srv文件分为请求和响应两部分,由’- - -‘分隔。手工输入代码:
int64 A
int64 B
---
int64 Sum
打开文件rosed beginner_tutorials package.xml,增加依赖,
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
打开文件rosed beginner_tutorials CMakeLists.txt,增加依赖,
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
在CMakeLists.txt文件,增加服务文件,取消#,并修改为
add_service_files(
FILES
AddTwoInts.srv
)
在CMakeLists.txt文件,增加消息生成包,取消#,并修改为
generate_messages(
DEPENDENCIES
std_msgs
)
编译代码
$ cd ~/catkin_ws
$ catkin_make
检查服务命令:
$ rossrv show beginner_tutorials/AddTwoInts
效果:
int64 a
int64 b
---
int64 sum