ROS学习(ten): Writing a Simple Service and Client (C++)

最新推荐文章于 2024-06-12 23:29:27 发布

fengxuewei123

最新推荐文章于 2024-06-12 23:29:27 发布

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分类专栏： UAV

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service

/**
 * server: 计算两个正数之和
*/

#include "ros/ros.h"
// 从 srv 中的 AddTwoInts.srv 文件中生成的头文件
#include "beginner_tutorials/AddTwoInts.h"

bool add(beginner_tutorials::AddTwoInts::Request &req,
         beginner_tutorials::AddTwoInts::Response &res)
{
    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::init(argc, argv, "add_two_ints_server");
    ros::NodeHandle n;

    // 服务被创建, 和发布在ros系统上
    ros::ServiceServer service = n.advertiseService("add_two_ints", add);
    ROS_INFO("Ready to add two ints.");
    ros::spin();

    return 0;
}

client

/**
 * client: 提供两个需要求和的值, 
 * 调用server, 返回和, 赋值给client, 打印出来
*/

#include "ros/ros.h"
// 从 srv 中的 AddTwoInts.srv 文件中生成的头文件
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "add_two_ints_client");

    if(argc != 3)
    {
        ROS_INFO("usage: add_two_ints_client X Y");
        return 1;
    }

    ros::NodeHandle n;

    // 为 add_two_ints 服务 增加客户端 client
    ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");

    // 一个 service 中包含两个类: request 和 response
    beginner_tutorials::AddTwoInts srv;
    srv.request.a = atoll(argv[1]);
    srv.request.b = atoll(argv[2]);

    // 调用这服务
    // 调用服务成功, call函数就会返回一个true, 和 为srv 的response赋值
    // 调用不成功, call函数会返回一个false, 和 srv 的response 赋值
    if(client.call(srv))
    {
        ROS_INFO("Sum: %ld", (long int)srv.response.sum);
    }
    else
    {
        ROS_ERROR("Failed to call service add_two_ints");
        return 1;
    }

    return 0;
}

# 在 CMakeLists.txt 添加相应的配置
add_executable(add_two_ints_server src/add_two_ints_server.cpp)
add_executable(add_two_ints_client src/add_two_ints_client.cpp)

target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})

add_dependencies(add_two_ints_server beginner_tutorials_gencpp)
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)

cd ~/C++_myself/catkin_ws
catkin build

roscore

# 运行服务器
rosrun beginner_tutorials add_two_ints_server

# 运行 客户端
fengxuewei@fengxuewei:~/C++_myself/catkin_ws$ rosrun beginner_tutorials add_two_ints_client 7 99
[ INFO] [1580562914.045513321]: Sum: 106