1.首先执行roscd beginner_tutorials命令,然后创建src/add_two_ints_server.cpp服务端源码,内容如下:
#include "ros/ros.h"
#include"beginner_tutorials/AddTwoInts.h"
booladd(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;
ros