ROS学习之路05：编写基于自定义服务(.srv)进行通信的节点

关键术语

---

服务文件(.srv)：服务文件的扩展名是.srv，本质上是一个txt文件，开发者可以在创建的服务文件中自定义需要的服务格式，由于服务字段中的字段类型是来自其他功能包，因此需要在package.xml文件及CMakeLists.txt文件中包含定义了字段类型的功能包，服务文件由两个部分组成。分别时请求和响应，两者通过---间隔开来.

---

创建工作空间(workspace)

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

---

创建功能包(package)

cd ~/catkin_ws/src
catkin_create_pkg custom_srv_service roscpp std_msgs message_generation message_runtime
cd ..
catkin_make

---

向功能包添加自定义服务文件(.srv)

roscd custom_srv_service
mkdir srv && cd srv
gedit custom_srv.srv

输入如下的内容：

int64 a
int64 b

---
int64 sum

---

修改CMakeLists.txt文件

cmake_minimum_required(VERSION 2.8.3)
project(custom_srv_service)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
)
add_service_files(
  FILES
  custom_srv.srv
)
generate_messages(
  DEPENDENCIES
  std_msgs
)
catkin_package(
  LIBRARIES custom_srv_service
  CATKIN_DEPENDS
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

---

构建生成服务类型头文件

cd ~/catkin_ws
catkin_make

检查生成的自定义的服务类型是否正确：

$ rossrv show custom_srv_service/custom_srv
int64 a
int64 b
---
int64 sum

根据输出的结果可知，输出与定义完全一致.

---

创建服务服务器(server)节点

#include "ros/ros.h"
#include "custom_srv_service/custom_srv.h"

bool add(custom_srv_service::custom_srv::Request  &req,
         custom_srv_service::custom_srv::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, "custom_srv_server");

  ros::NodeHandle nh;
  ros::ServiceServer service = nh.advertiseService("add_two_ints", add);

  ROS_INFO("Ready to add two ints!");
  ros::spin();

  return 0;
}

---

创建服务客户端(client)节点

#include "ros/ros.h"
#include "custom_srv_service/custom_srv.h"
#include <cstdlib>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "custom_srv_client");
  if (argc != 3){
    ROS_INFO("usage: rosrun package_name executable_name arguments");
    return 1;
  }

  ros::NodeHandle nh;
  ros::ServiceClient client = nh.serviceClient<custom_srv_service::custom_srv>("add_two_ints");

  custom_srv_service::custom_srv srv;
  srv.request.a = atol(argv[1]);
  srv.request.b = atol(argv[2]);

  if (client.call(srv)){
    ROS_INFO("with the given [%ld] and [%ld],the sum is: [%ld]", srv.request.a, srv.request.b, (long int)srv.response.sum);
  }
  else{
    ROS_ERROR("Failed to call service: add_two_ints");
    return 1;
  }
  return 0;
}

---

修改CMakeLists.txt文件

cmake_minimum_required(VERSION 2.8.3)
project(custom_srv_service)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
)
add_service_files(
  FILES
  custom_srv.srv
)
generate_messages(
  DEPENDENCIES
  std_msgs
)
catkin_package(
  LIBRARIES custom_srv_service
  CATKIN_DEPENDS
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

#下面是新增加的内容
add_executable(custom_srv_server src/custom_srv_server.cpp)
add_executable(custom_srv_client src/custom_srv_client.cpp)
add_dependencies(custom_srv_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(custom_srv_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(custom_srv_server ${catkin_LIBRARIES})
target_link_libraries(custom_srv_client ${catkin_LIBRARIES})

---

构建功能包，运行自定义服务的节点程序

运行服务服务器节点程序

rosrun custom_srv_service custom_srv_server

运行服务客户端节点程序

rosrun custom_srv_service custom_srv_client 12 23

---

至此，编写基于服务的节点程序就此完成了.
Enjoy It!