在学习ros的通信机制时,topic(话题和消息)和service(服务)遇到一个问题,程序除了需要处理回调函数还需要进行其他任务(比如发布话题消息的功能),这就涉及spinOnce()函数与循环结构搭配实现,而一般循环处理topic的回调函数只需要使用spin()即可。
这个链接中通过例子说明了这个两个函数的区别。https://blog.csdn.net/yaked/article/details/50776224
附上遇到中的一个ros::spinOnce()例子
/**
* 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,输入参数是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,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度为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");
//设置循环频率
ros::Rate loop_rate(10);
while(ros::ok())
{
//查看一次回调函数队列,spinOnce()一般与while函数一起实现
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);
}
//按照循环频率延时
loop_rate.sleep();
}
return 0;
}
还有一个问题,python未实现spinOnce()的功能,只有spin(),如果想实现上面C++代码中的循环处理回调函数功能并且执行发布消息的任务,只能通过新开一个线程。
#!/usr/bin/env python
#-*- coding: utf-8 -*-
import rospy
import thread,time
from geometry_msgs.msg import Twist
from std_srvs.srv import Trigger,TriggerResponse
pubCommand=False
turtle_vel_pub=rospy.Publisher('/turtle1/cmd_vel',Twist,queue_size=10)
def command_thread():
while True:
if pubCommand:
vel_msg=Twist()
vel_msg.linear.x=0.5
vel_msg.angular.z=0.2
turtle_vel_pub.publish(vel_msg)
time.sleep(0.1)
def commandCallback(req):
global pubCommand
pubCommand=bool(1-pubCommand)
rospy.loginfo("Publish turtle velocity command state![%d]",pubCommand)
return TriggerResponse(1,"Change turtle command state!")
def turtle_command_server():
rospy.init_node('turtle_command_server')
s=rospy.Service('/turtle_command',Trigger,commandCallback)
print "Ready to receive turtle command"
#新建线程去执行发布消息的任务
thread.start_new_thread(command_thread,())
#循环处理已经注册服务的回调函数commandCallback()
rospy.spin()
if __name__=="__main__":
turtle_command_server()