ROS入门（3）——服务

如何自定义服务请求与应答

1  定义srv文件

        在功能包下创建srv文件夹，在msg文件夹下创建AddTwoInts.srv的定义文件

int64 a
int64 b
---
int64 sum

2  在package.xml中添加功能依赖包

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

3  在CMakeLists.txt添加编译选项

find_package(catkin REQUIRED COMPONENTS
 ...
  message_generation
)

catkin_package(
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
)


##add_message_files(FILES Person.msg)

add_service_files(FILES AddTwoInts.srv)

服务编程流程

1  创建服务器

        a.初始化ROS节点

        b.创建Server实例

        c.循环等待服务请求，进入回调函数

        d.在回调函数中完成服务功能 处理，并反馈应答数据

/**
 * AddTwoInts Server
 */
 
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"

// service回调函数，输入参数req，输出参数res
bool add(learning_communication::AddTwoInts::Request  &req,
         learning_communication::AddTwoInts::Response &res)
{
  // 将输入参数中的请求数据相加，结果放到应答变量中
  res.sum = req.a + req.b;
  ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
  ROS_INFO("sending back response: [%ld]", (long int)res.sum);
  
  return true;
}

int main(int argc, char **argv)
{
  // ROS节点初始化
  ros::init(argc, argv, "add_two_ints_server");
  
  // 创建节点句柄
  ros::NodeHandle n;

  // 创建一个名为add_two_ints的server，注册回调函数add()
  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
  
  // 循环等待回调函数
  ROS_INFO("Ready to add two ints.");
  ros::spin();

  return 0;
}

2  创建客户端

        a.初始化ROS节点

        b.创建Client实例

        c.发送服务请求数据

        d.等待Server处理之后的应答结果

/**
 * AddTwoInts Client
 */
 
#include <cstdlib>
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"

int main(int argc, char **argv)
{
  // ROS节点初始化
  ros::init(argc, argv, "add_two_ints_client");
  
  // 从终端命令行获取两个加数
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }

  // 创建节点句柄
  ros::NodeHandle n;
  
  // 创建一个client，请求add_two_int service，service消息类型是learning_communication::AddTwoInts
  ros::ServiceClient client = n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
  
  // 创建learning_communication::AddTwoInts类型的service消息
  learning_communication::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  
  // 发布service请求，等待加法运算的应答结果
  if (client.call(srv)) //阻塞函数，没等到会影响进程
  {
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

3  添加编译选项

        a.设置需要编译的代码和生成的可执行文件

        b.设置依赖库

        c.设置依赖

add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependencies(server ${PROJECT_NAME}_gencpp)

add_executable(client src/client.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependencies(client ${PROJECT_NAME}_gencpp)

4  运行可执行程序

$ rosrun learning_communication client 3 4
$ rosrun learning_communication server

服务端输出结果：

[ INFO] [1677390869.795863538]: Ready to add two ints.
[ INFO] [1677390932.073596505]: request: x=3, y=4
[ INFO] [1677390932.073687921]: sending back response: [7]

客户段输出结果

[ INFO] [1677390932.073969330]: Sum: 7

注：本文为古月居ROS21讲笔记