简介:介绍如何在一个node里调用现有的rosservice list查询到的service。
效果:通过talker publish需要调用服务的数据,listener接收到数据后调用服务进行三个整形数据相加,并返回相加和。
环境:ubuntu 14.04 +indigo.
备注:文中未详细介绍的api或ros的基本函数请参看之前博文。
[正文]
创建过程类似wiki教程中msg和srv的测试过程。在beginner_turtorials包下面创建。
1,创建msg文件夹,srv文件夹。
msg 文件夹下创建Num.msg,内容是
int32 A
int32 B
int32 C
srv文件夹下AddTwoInts.srv,内容是
int32 A
int32 B
int32 C
---
int32 sum
该文件表面输入是ABC,返回是 sum,两者通过“---”分割。
2,然后更改CMakeList.txt文件,修改为如下内容,主要设计msg,srv的其他依赖关系及编译运行的相关关系。
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## Generate messages in the 'msg' folder
add_message_files(
FILES
Num.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
AddTwoInts.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES beginner_tutorials
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
CATKIN_DEPENDS message_runtime
)
也可参考,wiki中CreatingMsgAndSrv中过程,名称都没有改变,只是改变了文件中内容,改写完成后可以在catkin_ws目录下catkin_make一次,并source devel/setup.bash下。
3,建立几个cpp的源文件,位于src目录下。
3.1 src/example_srv_request.cpp
作用:主要实现服务的定义,初始化,注释由于ubuntu没装汉语输入,因此注释为英文...聊胜于无。
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
bool add(beginner_tutorials::AddTwoInts::Request &req,
beginner_tutorials::AddTwoInts::Response &res)
{
res.sum=req.A+req.B+req.C;
ROS_INFO("request: A=%ld,B=%ld,C=%ld",(int)req.A,(int)req.B,(int)req.C);
ROS_INFO("sending back response:[%ld]",(int)res.sum);
return true;
}
int main(int argc,char **argv)
{
ros::init(argc,argv,"add_3_ints_server");
ros::NodeHandle n;
//init service:
//Name: add_3_ints,advertise the service. add: call back function
ros::ServiceServer service=n.advertiseService("add_3_ints",add);
ROS_INFO("Ready to add 3 ints.");
ros::spin();// start to deal with the call back event
return 0;
}
3.2 src/example_srv_response.cpp,该文件并非必要,是典型的client调用服务的形式,并非此文目的,不添加最终目的也可实现,调用示例是(现在还不能调用):
rosrun beginner_tutorials example_srv_response 1 2 3
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>
int main(int argc,char **argv)
{
ros::init(argc,argv,"add_3_ints_client");
if(argc != 4)
{
ROS_INFO("usage: add_3_ints_client A B C");
return 1;
}
ros::NodeHandle n;
ros::ServiceClient client=n.serviceClient<beginner_tutorials::AddTwoInts>("add_3_ints");
beginner_tutorials::AddTwoInts srv;
//atoll:convert a string to long long int variable
srv.request.A=atoll(argv[1]);
srv.request.B=atoll(argv[2]);
srv.request.C=atoll(argv[3]);
if(client.call(srv))
{
ROS_INFO("Sum:%ld",(long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service add_three_ints");
return 1;
}
return 0;
}
3.3 src/example_talker_msg.cpp
该文件主要实现3个参数的发布,此处发布了A=1,B=2,C=3;
#include "ros/ros.h"
#include "beginner_tutorials/Num.h"
#include <sstream>
//Usage:publish a msg with topic named message
int main(int argc, char **argv)
{
ros::init(argc, argv, "example_talker_msg");
ros::NodeHandle n;
//advertise a topic named "message"
ros::Publisher pub=n.advertise<beginner_tutorials::Num>("message",1000);
ros::Rate loop_rate(10);
while (ros::ok())
{
beginner_tutorials::Num msg;
msg.A=1;
msg.B=2;
msg.C=3;
pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
3.4 src/example_listener_msg.cpp
该文件主要实现对前文talker发布的数据的监听,监听到Num类型定义数据后,通过service: ros::service::call / client.call()两种方式进行add_3_ints服务的调用。
#include "ros/ros.h"
#include "beginner_tutorials/Num.h"
#include "beginner_tutorials/AddTwoInts.h"
//declaration of the Example class:construct function, member and so on.
class Example{
public:
Example();
private:
ros::NodeHandle nh;
ros::ServiceClient client;
ros::Subscriber listener;
void messageCallback(const beginner_tutorials::Num::ConstPtr& msg);
};
//implementation of construct function.
Example::Example()
{
client=nh.serviceClient<beginner_tutorials::AddTwoInts>("add_3_ints");
//monitor a topic named "message",this -> current object,pointer
listener=nh.subscribe("message",1000,&Example::messageCallback,this);
}
//implementation of one of the Example class memeber.
void Example::messageCallback( const beginner_tutorials::Num::ConstPtr& msg)
{
// ROS_INFO("I heard:[%d] [%d] [%d]",msg->A,msg->B,msg->C);
beginner_tutorials::AddTwoInts srv;
srv.request.A=msg->A;
srv.request.B=msg->B;
srv.request.C=msg->C;
if(ros::service::call("add_3_ints",srv))
ROS_INFO("SUM: %ld",(long int)srv.response.sum);
else
ROS_ERROR("Failed to call service add_three_ints");
/*
if(client.call(srv))
{
ROS_INFO("SUM: %ld",(long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service add_three_ints");
}
*/
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "example_listener_msg");
Example exp;
ros::spin();
return 0;
}
4 再次修改CMakeList.txt文件
添加编译链接的相关控制语句。
add_executable(example_srv_request src/example_srv_request.cpp)
target_link_libraries(example_srv_request ${catkin_LIBRARIES})
add_executable(example_srv_response src/example_srv_response.cpp)
target_link_libraries(example_srv_response ${catkin_LIBRARIES})
add_executable(example_talker_msg src/example_talker_msg.cpp)
target_link_libraries(example_talker_msg ${catkin_LIBRARIES})
add_executable(example_listener_msg src/example_listener_msg.cpp)
target_link_libraries(example_listener_msg ${catkin_LIBRARIES})
添加后在工作空间主目录cd ~/catkin_ws下进行catkin_make编译,理论上不会出现问题,若有问题检查自己包和msg,srv的生成及cmakelist文件。
5 测试
一个终端运行命令:roscore,
一个终端运行命令(注意此时近乎所有命令和包的名称及可执行文件名称都可以<table>自动补全):rosrun beginner_tutorials example_srv_request;会返回: [INFO][时间戳]:Ready to add 3 ints. 此时若通过roservice list查询ros提供的服务则会返回add_3_ints等几个服务。
一个终端运行命令:rosrun beginner_tutorials example_talker_msg
一个终端运行命令:rosrun beginner_tutorials example_listener_msg;此时会返回: [INFO][时间戳]:SUM: 6
在此文件中,我们实现了在一个node中以下面两种方式对add_3_ints的服务调用,而不是在命令行中通过rosrun beginner_tutorials example_srv_response 1 2 3调用。
if(ros::service::call("add_3_ints",srv))
ROS_INFO("SUM: %ld",(long int)srv.response.sum);
else
ROS_ERROR("Failed to call service add_three_ints");
/*
if(client.call(srv))
{
ROS_INFO("SUM: %ld",(long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service add_three_ints");
}
*/