一、创建功能包
-
$ cd ~/catkin_ws/src
要进入src文件夹才能创建功能包 -
$ catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
创建learning_service功能包
二、创建客户端代码
如何实现一个客户端
- 初始化ROS节点
- 创建一个Client实例
- 发布服务请求数据
- 等待Sever处理之后的应答结果
-
$ cd ~/catkin_ws/src/learning_service/src
-
$ touch turtle_spawn.cpp
创建cpp文件 -
$ gedit turtle_spawn.cpp
编辑cpp文件,输入以下代码
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/spawn服务,服务数据类型turtlesim::Spawn
*/
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "turtle_spawn");
// 创建节点句柄
ros::NodeHandle node;
// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
// 初始化turtlesim::Spawn的请求数据
turtlesim::Spawn srv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2";
// 请求服务调用
ROS_INFO("Call service to spwan turtle[x:%0.6f, y:%0.6f, name:%s]",
srv.request.x, srv.request.y, srv.request.name.c_str());
add_turtle.call(srv);
// 显示服务调用结果
ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
};
三、配置客户端代码编译规则
-
$ cd ~/catkin_ws/src/learning_service
-
$ gedit CMakeLists.txt
在
#############
## Install ##
#############
之前输入
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
四、编译并运行客户端
-
$ cd ~/catkin_ws
进入工作空间根目录 -
$ catkin_make
编译工作空间 -
$ source devel/setup.bash
设置环境变量 -
$ roscore
启动ROS Master -
$ rosrun turtlesim turtlesim_node
启动小海龟仿真器 -
$ rosrun learning_service turtle_spawn
运行可执行文件turtle_spawn,可以看到终端在(2,2)位置生成了一只新海龟