ROS2服务通信（python实现）

最近在学习赵虚左老师的ROS2课程，为此记录学习过程

实现方法和C++的类似，就不多做赘述了

服务接口使用的是之前c++的接口，所以不用修改

服务端代码

不用声明变量，比c++方便多了

#包含头文件

import rclpy
from rclpy.node import Node
from base_interfaces_demo.srv import AddInts

# 自定义节点
class AddIntServer(Node):
    def __init__(self):
        super().__init__("add_int_server_node")
        self.get_logger().info("服务端创建成功")
        self.server = self.create_service(AddInts,"add_ints",self.add_callback)

    def add_callback(self,request,response):
        response.sum =  request.num1 + request.num2
        self.get_logger().info("%d + %d = %d" %(request.num1,request.num2,response.sum))
        return response


def main():
    # 初始化客户端
    rclpy.init()
    # 调用spin传入节点对象
    rclpy.spin(AddIntServer())
    # 释放资源
    rclpy.shutdown()


if __name__=='__main__':
   main()

之后编译运行，然后开启另一个新的中断，依次调用下面两个指令进行测试，如果返回结果，说明代码正确

source install/setup.bash
ros2 service call /add_ints base_interfaces_demo/srv/AddInts "{'num1': 10,'num2': 15}"

客户端代码

#包含头文件
import rclpy
from rclpy.node import Node
from base_interfaces_demo.srv import AddInts
import sys
from rclpy.logging import get_logger

# 自定义节点
class AddIntClient(Node):
    def __init__(self):
        super().__init__("add_int_client_node")
        self.get_logger().info("创建客户端")
        self.client = self.create_client(AddInts,"add_ints")
        
        while not self.client.wait_for_service(1.0):
            self.get_logger().info("等待连接中")
    def send_request(self):
        requset = AddInts.Request()
        requset.num1 = int(sys.argv[1])
        requset.num2 = int(sys.argv[2])
        self.future = self.client.call_async(requset)

def main():

    if(len(sys.argv) != 3 ):
        get_logger("rclpy").error("请提交两个数据")
        return

    # 初始化客户端
    rclpy.init()
    client = AddIntClient()
    client.send_request()
    rclpy.spin_until_future_complete(client,client.future)

    try:
        response = client.future.result()
        client.get_logger().info("响应结果:sum = %d" % response.sum)
    except Exception:
        client.get_logger().error("服务响应失败")

    # 释放资源
    rclpy.shutdown()

if __name__=='__main__':
   main()