server 端: 运算
from beginner_tutorials.srv import AddTwoInts,AddTwoIntsResponse
import rospy
def handle_add_two_ints(req):
print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
return AddTwoIntsResponse(req.a + req.b)
def add_two_ints_server():
rospy.init_node('add_two_ints_server')
s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
print "Ready to add two ints."
rospy.spin()
if __name__ == "__main__":
add_two_ints_server()
client 端: 打印输出
import sys
import rospy
from beginner_tutorials.srv import *
def add_two_ints_client(x, y):
rospy.wait_for_service('add_two_ints')
try:
add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
resp1 = add_two_ints(x, y)
return resp1.sum
except rospy.ServiceException, e:
print "Service call failed: %s"%e
def usage():
return "%s [x y]"%sys.argv[0]
if __name__ == "__main__":
if len(sys.argv) == 3:
x = int(sys.argv[1])
y = int(sys.argv[2])
else:
print usage()
sys.exit(1)
print "Requesting %s+%s"%(x, y)
print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))
run
catkin_make
fengxuewei@fengxuewei:~/C++_myself/catkin_ws$ rosrun beginner_tutorials add_two_ints_server.py
Ready to add two ints
fengxuewei@fengxuewei:~/C++_myself/catkin_ws$ rosrun beginner_tutorials add_two_ints_client.py 2 5
Requesting 2+5
2 + 5 = 7
fengxuewei@fengxuewei:~/C++_myself/catkin_ws$ rosrun beginner_tutorials add_two_ints_server.py
Ready to add two ints.
Returning [2 + 5 = 7]