Ros入门学习002——服务

Ros服务通讯方式实现

思路：
1.服务分为客户端（Client）和服务器（Server），客户端用于发送请求，服务器接受请求后执行回调函数并回复客户端。
2.Client端程序实现发送/Spawn请求生成新的小乌龟，并得到回复
3.Server端实现接受自定义/turtle_command请求，回复并创建Publisher向/turtel1/cmd_vel话题发布消息

Client

#!/usr/bin/env python
# -*- coding:utf-8 -*-
# @Time:2021/9/12 下午5:01
# @Author:ljt
import rospy
import numpy as np
from turtlesim.srv import Spawn
def turtle_spawn(num):
    #初始化节点
    rospy.init_node('turtle_spawn')
    #等待开启服务‘/spawn’
    rospy.wait_for_service('/spawn')
    #定义客户端
    add_turtle=rospy.ServiceProxy('/spawn',Spawn)
    x=np.random.rand(2)*11
    #客户端发送消息并等待回复(回复为response)
    response=add_turtle(x[0],x[1],0.0,'turtle'+str(num))
    return response.name
if __name__=='__main__':
    n=3
    for i in range(2,n+1):
        print('Spawn turtle successfully [name:{0}]'.\
          format(turtle_spawn(i)))

Server

#!/usr/bin/env python
# -*- coding:utf-8 -*-
# @Time:2021/9/12 下午9:41
# @Author:ljt
import rospy
from std_srvs.srv import Trigger,TriggerResponse
from geometry_msgs.msg import Twist
import thread
global Flag
def Publisher_topic():
    rate=rospy.Rate(10)
    print("I'm working!")
    while(1):
        if (Flag):
            publish=rospy.Publisher('/turtle1/cmd_vel',Twist,queue_size=10)
            msg=Twist()
            msg.linear.x=0.2
            msg.angular.z=0.5
            publish.publish(msg)
            rate.sleep()
def CallbackFunction(msg):
    global  Flag
    Flag=bool(1-Flag)
    print('Response has completed!')
    return TriggerResponse(1,'TriggerResponce')
def turtle_command():
    rospy.init_node('turtel_command',anonymous=True)
    server=rospy.Service('/turtle_command',Trigger,CallbackFunction)
    thread.start_new_thread(Publisher_topic,())
    rospy.spin()
if __name__=='__main__':
    Flag=False
    turtle_command()

备注：
rospy.spin()为循环等待接受请求，需开设另一个线程用于创建平Publisher并发布话题
thread.start_new_thread(Function,())

publisher单次发布需要在发布前等待3s以上，subscriber才能接，主要是等待Publisher的定义及设置完成。