ros中的service和client

参考：Writing a Simple Service and Client (Python)

首先是用到的add_two_ints/srv路径下的AddTwoInts.srv文件：

int64 a
int64 b
---
int64 sum  # 前面是field type，后面是field name

server

#!/usr/bin/env python

import rospy
# 导入srv文件，此处是AddTwoInts.srv
from add_two_ints.srv import *

def add_two_ints():
    rospy.init_node('add_two_ints_node')  # initialize the node, define the node name
    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)  # define the service name, srv type and handle function
    print('ready add two ints:')
    # 维持python解释器的运行？
    rospy.spin()

def handle_add_two_ints(req):
    print('return: %s + %s = %s' % (req.a, req.b, (req.a + req.b)))
    return AddTwoIntsResponse(req.a + req.b)


if __name__ == '__main__':
    add_two_ints()

client

#!/usr/bin/env python

import sys
import rospy
from add_two_ints.srv import *


def add_two_ints_client(a, b):
    rospy.init_node('add_two_ints_client_node', anonymous=True)
    # 阻塞，一直到service可用
    rospy.wait_for_service('add_two_ints')
    try:
        # create a handle for calling the service,just like a function
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
        # 调用这个'function'，返回一个响应体（也就是一个数据结构，由srv文件定义）
        resp = add_two_ints(a,b)
        # sum是srv文件定义的数据的name
        return resp.sum
    except rospy.ServiceException,e:
        print 'error: %s' % e


if __name__ == '__main__':
    if len(sys.argv) == 3:
        # 注意：这里需要转类型
        a = int(sys.argv[1])
        b = int(sys.argv[2])
    else:
        print sys.argv
        sys.exit(1)
    print 'request %s + %s' % (a, b)
    # 调用函数，此时会与server通信
    print '%s + %s = %s' % (a, b, add_two_ints_client(a,b))