ROS学习--第6篇：ROS基础---服务（service）编程

本次我们将创建一个简单的service节点(“add_two_ints_server”)，该节点将接收到两个整形数字，并返回它们的和。
先在 catkin_ws/src/learning_communication/src 功能包下建两个 .cpp 文件，分别命名add_two_ints_server.cpp 、add_two_ints_client.cpp

#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"
 
// service回调函数，输入参数req，输出参数res
bool add(learning_communication::AddTwoInts::Request  &req,
         learning_communication::AddTwoInts::Response &res)
{
  // 将输入参数中的请求数据相加，结果放到应答变量中
  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节点初始化
  ros::init(argc, argv, "add_two_ints_server");
  
  // 创建节点句柄
  ros::NodeHandle n;
 
  // 创建一个名为add_two_ints的server，注册回调函数add()
  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
  
  // 循环等待回调函数
  ROS_INFO("Ready to add two ints.");
  ros::spin();
 
  return 0;
}

#include <cstdlib>
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"
 
int main(int argc, char **argv)
{
  // ROS节点初始化
  ros::init(argc, argv, "add_two_ints_client");
  
  // 从终端命令行获取两个加数
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }
 
  // 创建节点句柄
  ros::NodeHandle n;
  
  // 创建一个client，请求add_two_int service，service消息类型是learning_communication::AddTwoInts
  ros::ServiceClient client = n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
  
  // 创建learning_communication::AddTwoInts类型的service消息
  learning_communication::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  
  // 发布service请求，等待加法运算的应答结果
  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;
}

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server learning_communication_gencpp)
 
add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client learning_communication_gencpp)