ROS 入门基础（五）Client， Python

这次换一下口味，用python试试

换口味了，就换个窝啦。

重新来个package

来到 catkin_ws/src 新建一个 learning_service文件夹

回到 catkin_ws catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim

有了空package了，继承传统美德，在 catkin_ws/src/learning_service 里创建scripts。用来装python文件

创建Python文件了，turtle_spawn.py

#!/usr/bin/env python

import sys
import rospy
from turtlesim.srv import Spawn

def turtle_spawn():
	rospy.init_node('turtle_spawn')
	rospy.wait_for_service('/spawn')
	try:
		add_turtle = rospy.ServiceProxy('/spawn',Spawn)
		reponse = add_turtle(2.0, 2.0, 0.0, "turtle2")
		return reponse.name
	except rospy.SericeException, e:
		print "Service call failed : %s" %e

if __name__ == '__main__':
	print "Spwan turtle successfule [name:%s]" %(turtle_spawn())

本以为Python会自动到不用配置CMakelists，，，是我想太多。你总这样说。

catkin_install_python(PROGRAMS scripts/turtle_spawn.py
 DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

准备好了

到catkin_ws那层，

catkin_make

roscore

rosrun turtlesim turtlesim_node

rosrun learning_service turtle_spawn.py

看看是不是有两个龟