ROS node调用service: ros::service::call/client.call()

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");

    }
    */