服务与客户端
一、客户端请求服务
1 . 在工作空间的 src 文件中新建一个功能包
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
2 . 新建一个 .cpp 文件
touch turtle_spawn.cpp
输入代码:
/*
该历程将请求/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;
// 查询是否有/spawn服务,如果没有则一直等待
ros::service::waitForService("/spawn");
// 发现/spawn服务后,创建一个服务客户端,客户端的数据类型是:turtlesim::Spawn
// 连接名为/spawn的service
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
// 初始化 turtlesim::Spawn 的请求数据
turtlesim::Spawn srv;
// 请求类型的数据
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());
// 发送请求数据,阻塞等待反馈
add_turtle.call(srv);
// 显示服务反馈结果
ROS_INFO("Spwan turtle successfully [name:%s]",srv.response.name.c_str());
return 0;
}
3 . 添加编译规则:
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
----------------------------------------------------------------------------------------------------------------
二、自定义服务
1 . 新建一个 .cpp 文件
touch turtle_command_server.cpp
输入代码:
/*
该例程将执行/turtle_command服务,服务数据类型std_srvs/Trigger
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_srvs/Trigger.h>
ros::Publisher turtle_vel_pub;
bool pubCommand = false;
// service 回调函数, 输入参数req,输出参数res
bool commandCallback(std_srvs::Trigger::Request &req,
std_srvs::Trigger::Response &res)
{
pubCommand = !pubCommand;
// 显示请求数据
ROS_INFO("Publish turtle velocity command [%s]", pubCommand==true?"Yes":"No");
// 设置反馈数据
res.success = true;
res.message = "Change turtle command state!";
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "turtle_command_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为/turtle_command的server,注册回调函数commandCallback
ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback);
// 创建一个Publisher,发布到名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 循环等待回调函数
ROS_INFO("Ready to receive turtle command.");
// 设置循环的频率
ros::Rate loop_rate(10);
while(ros::ok())
{
// 查看一次回调函数队列
ros::spinOnce();
//如果标志为true, 则发布速度指令
if(pubCommand)
{
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
turtle_vel_pub.publish(vel_msg);
}
// 延时
loop_rate.sleep();
}
return 0;
}
① 查看 Trigger 数据结构
rossrv show std_srvs/Trigger
--- 以上是 request 内容
--- 以下是 response 内容
2 . 在 CMakeLists.txt 中添加编译规则:
add_executable(turtle_command_server src/turtle_command_server.cpp)
target_link_libraries(turtle_command_server ${catkin_LIBRARIES})
3 . source 添加环境变量
source devel/setup.bash
4 . 运行上述代码后,向终端请求服务
rosservice call /turtle_command "{}"
←←←←←←←←←←←←←←←←←←←←←←←←←←←←←←←←←←←←
三、自定义服务数据
1 . 在包下新建一个 srv 文件
mkdir srv
2 . 在 srv 文件夹下新建一个 .srv 文件
— 以上是 request 内容
— 以下是 response 内容
touch Person.srv
输入代码:
string name
uint8 age
uint8 sex
uint8 unknown = 0
uint8 male = 1
uint8 female = 2
---
string result
3 . 添加功能包依赖与编译环境
① 在 .xml 文件中添加
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
② 在 CMakeLists.txt 中添加编译选项
1 . 在 find_package 中加入:
message_generation
2. 添加编译规则:
add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)
3. 在 catkin_package 添加编译依赖:
CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
4 . 调用刚才定义的服务消息
① 新建一个 .cpp 文件
touch person_client.cpp
代码:
/*
该历程将请求/show_person服务,服务数据类型learning_service::Person
*/
#include <ros/ros.h>
#include "learning_service/Person.h"
int main(int argc, char**argv)
{
// 初始化ROS节点
ros::init(argc, argv, "person_client");
// 创建节点句柄
ros::NodeHandle node;
// 查询是否有/show_person,如果没有则一直等待
ros::service::waitForService("/show_person");
// 发现/show_person,创建一个服务客户端,客户端的数据类型是:turtlesim::Spawn
// 连接名为/show_person的service
ros::ServiceClient person_client = node.serviceClient<learning_service::Person>("/show_person");
// 初始化 turtlesim::Spawn 的请求数据
learning_service::Person srv;
// 请求类型的数据
srv.request.name = "Zhou";
srv.request.age = 20;
srv.request.sex = learning_service::Person::Request::male;
// 请求服务调用
ROS_INFO("Call service to spwan turtle[name:%s, age:%d, sex:%d]",
srv.request.name, srv.request.age, srv.request.sex);
// 发送请求数据,等待反馈
person_client.call(srv);
// 显示服务反馈结果
ROS_INFO("Show person resule : %s",
srv.response.result.c_str());
return 0;
}
② 一个 .cpp 文件
touch person_server.cpp
输入代码:
/*
该例程将执行/show_person服务,服务数据类型learning_service::Person
*/
#include <ros/ros.h>
#include "learning_service/Person.h"
ros::Publisher turtle_vel_pub;
bool pubCommand = false;
// service 回调函数, 输入参数req,输出参数res
bool commandCallback(learning_service::Person::Request &req,
learning_service::Person::Response &res)
{
// 显示请求数据
ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex);
// 设置反馈数据
res.result = "OK";
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "person_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为/show_person的server,注册回调函数commandCallback
ros::ServiceServer person_service = n.advertiseService("/show_person", commandCallback);
// 循环等待回调函数
ROS_INFO("Ready to show person infomation.");
ros::spin();
return 0;
}
5 . 在 CMakeLists.txt 中添加编译规则
add_executable(person_server src/person_server.cpp)
target_link_libraries(person_server ${catkin_LIBRARIES})
add_dependencies(person_server ${PROJECT_NAME}_gencpp)
add_executable(person_client src/person_client.cpp)
target_link_libraries(person_client ${catkin_LIBRARIES})
add_dependencies(person_client ${PROJECT_NAME}_gencpp)
参考:https://www.bilibili.com/video/BV1zt411G7Vn?p=14&spm_id_from=pageDriver&vd_source=a85b1d28d237161903d04396c133cacc