1.编写服务节点
这里,我们将创建简单的服务(Service)节点add_two_ints_server,该节点将接收两个整数,并返回它们的和。
将当前目录切换到之前创建的beginner_tutorials(catkin_ws/src/beginner_tutorials)包中:
roscd beginner_tutorials
在beginner_tutorials/srv中新建一个srv文件AddTwoInts.srv,内容如下
int64 a
int64 b
---
int64 sum
1.1代码
在beginner_tutorials包中创建scripts/add_two_ints_server.py文件并粘贴以下内容进去:
#!/usr/bin/env python
from __future__ import print_function
from beginner_tutorials.srv import AddTwoInts,AddTwoIntsResponse
import rospy
def handle_add_two_ints(req):
print("Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b)))
return AddTwoIntsResponse(req.a + req.b)
def add_two_ints_server():
rospy.init_node('add_two_ints_server')
s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
print("Ready to add two ints.")
rospy.spin()
if __name__ == "__main__":
add_two_ints_server()
别忘了给节点执行权限:
chmod +x scripts/add_two_ints_server.py
然后将以下内容添加到CMakeLists.txt文件。这样可以确保正确安装Python脚本,并使用合适的Python解释器。
catkin_install_python(PROGRAMS scripts/add_two_ints_server.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
2编写客户端节点
2.1代码
在beginner_tutorials包中创建scripts/add_two_ints_client.py文件并粘贴以下内容进去:
#!/usr/bin/env python
from __future__ import print_function
import sys
import rospy
from beginner_tutorials.srv import *
def add_two_ints_client(x, y):
rospy.wait_for_service('add_two_ints')
try:
add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
resp1 = add_two_ints(x, y)
return resp1.sum
except rospy.ServiceException as e:
print("Service call failed: %s"%e)
def usage():
return "%s [x y]"%sys.argv[0]
if __name__ == "__main__":
if len(sys.argv) == 3:
x = int(sys.argv[1])
y = int(sys.argv[2])
else:
print(usage())
sys.exit(1)
print("Requesting %s+%s"%(x, y))
print("%s + %s = %s"%(x, y, add_two_ints_client(x, y)))
别忘了给节点执行权限:
chmod +x scripts/add_two_ints_client.py
然后,在你的CMakeLists.txt中编辑catkin_install_python()调用,就像这样:
catkin_install_python(PROGRAMS scripts/add_two_ints_server.py scripts/add_two_ints_client.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
3.运行
3.1 第一个终端
roscore
3.2 第二个终端
rosrun beginner_tutorials add_two_ints_server.py
3.3 第三个终端
rosrun beginner_tutorials add_two_ints_client.py 7 4
结果