ros2--标准库接口

std_msgs/msg/Header

# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.

# Two-integer timestamp that is expressed as seconds and nanoseconds.
#stamp--时间戳，两个成员：秒和纳秒
builtin_interfaces/Time stamp
        int32 sec
        uint32 nanosec

# Transform frame with which this data is associated.
#
string frame_id

作用：

sensor/msg/JointState

# This is a message that holds data to describe the state of a set of torque controlled joints.
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state.
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty.
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.

std_msgs/Header header
        builtin_interfaces/Time stamp
                int32 sec
                uint32 nanosec
        string frame_id

string[] name
float64[] position
float64[] velocity
float64[] effort

- `string[] name`：机器人关节的名称，为一个字符串数组；

- `float64[] position`：机器人关节的位置，为一个双精度浮点数数组；

- `float64[] velocity`：机器人关节的速度，为一个双精度浮点数数组；

- `float64[] effort`：机器人关节的力/扭矩，为一个双精度浮点数数组。

std_srvs/srv/empty.hpp

什么都不需要传递的空服务。

#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_srvs/srv/empty.hpp"

using namespace std::placeholders;

namespace cb_group_demo
{
class ServiceNode : public rclcpp::Node
{
public:
    ServiceNode() : Node("service_node")
    {
        service_ptr_ = this->create_service<std_srvs::srv::Empty>(
                "test_service",
                std::bind(&ServiceNode::service_callback, this, _1, _2, _3)
        );
    }

private:
    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr service_ptr_;

    void service_callback(
            const std::shared_ptr<rmw_request_id_t> request_header,
            const std::shared_ptr<std_srvs::srv::Empty::Request> request,
            const std::shared_ptr<std_srvs::srv::Empty::Response> response)
    {
        (void)request_header;
        (void)request;
        (void)response;
        RCLCPP_INFO(this->get_logger(), "Received request, responding...");
    }
};  // class ServiceNode
}   // namespace cb_group_demo

int main(int argc, char* argv[])
{
    rclcpp::init(argc, argv);
    auto service_node = std::make_shared<cb_group_demo::ServiceNode>();

    RCLCPP_INFO(service_node->get_logger(), "Starting server node, shut down with CTRL-C");
    rclcpp::spin(service_node);
    RCLCPP_INFO(service_node->get_logger(), "Keyboard interrupt, shutting down.\n");

    rclcpp::shutdown();
    return 0;
}