古月局_ROS自定义服务数据

  在catkin_ws/src/learning_service目录下新建一个文件夹srv，然后在该文件夹内新建文件Person.srv：

string name
uint8  age
uint8  sex

uint8 unknown = 0
uint8 male    = 1
uint8 female  = 2
---
string result

  在catkin_ws/src/learning_service/package.xml中添加功能包依赖：

<build_depend>message_generation</build_depend>
<exec_depend>message runtime</exec_depend>

  在catkin_ws/src/learning_service/CMakeLists.txt中添加编译选项：

find_package(catkin REQUIRED COMPONENTS
    geometry_msgs
    roscpp
    rospy
    std_msgs
    turtlesim
    message_generation # 这是新加的
)

add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)

catkin_package(
    # INCLUDE_DIRS include
    # LIBRARIES learning_service
    CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
    # DEPENDS system_lib
)

  最后编程生成语言相关文件：

$ cd ~/catkin_ws
$ catkin_make

于是会在catkin_ws/devel/include/learning_service目录下生成PersonRequest.h和PersonResponse.h。
  在catkin_ws/src/learning_service/src下新建文件person_server.cpp：

/* 该例程将执行“/show_person”服务，服务数据类型“learning_service::Person” */
#include <ros/ros.h>
#include "learning_service/Person.h"

/* service回调函数，输入参数req，输出参数res */
bool personCallback ( learning_service::Person::Request &req,
                      learning_service::Person::Response &res ) {
   
    /* 显示请求数据 */
    ROS_INFO ( "Person: name:%s  age:%d  sex:%d", req.name.c_str(