ROS 入门基础（六）Server, 继续用python

Python 真香~

继续使用Python吧。

那就还是用之前那个learning_service的package吧。

在scripts文件夹里面新增 turtle_command_server.py

#!/usr/bin/env python

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![%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 trutle command."

	thread.start_new_thread(command_thread,())
	rospy.spin()

if __name__ == '__main__':
	turtle_command_server()

原理Python真的不用配置，真香~~

直接走起。

catkin_make

roscore

rosrun turtlesim turtlesim_node

rosrun learning_service turtle_command_server.py

好了准好三个了，再开一个来输入控制代码

rosservice call /turtle_command "{}"

一次开始运动，再来一次就是停止运动。

来，玩弄你的小乌龟。

 

**现在还不太清楚什么时候要配置CMakelists的。不过感觉Python比较香。