一、对于服务的理解
服务分为客户端和服务端,平时我们用的手机APP都可以成为客户端,而APP服务器对于软件来说就是服务端。
客户端发送请求给服务端,服务端可以根据客户端的请求做一些处理,然后返回结果给客户端。
我们之前有了解过ros2里面的话题定义,这里我要说明的是话题与服务最大的区别就是话题是单向的,只能由发布者将信息传到订阅者;而服务则多出来一个反馈的环节。
二、常用命令
查看服务列表
ros2 service list
手动调用服务
ros2 service call 文件相对路径 “{具体内容}"
三、RCLPY之实现
1.RLCPY服务端实现
ROS2 实现服务端大体分为以下几个步骤
- 导入服务接口
- 创建服务端回调函数
- 声明并创建服务端
- 编写回调函数逻辑处理请求
这里我直接把源码奉上
首先别忘了把引用的自定义接口加上
import rclpy
from rclpy.node import Node
from std_msgs.msg import String,UInt32
from villages_interfaces.srv import BorrowMoney
接着在定义类里补充函数
class WriterNode(Node):
def __init__(self,name):
super().__init__(name)
self.get_logger().info("大家好,我是作家%s!"%name)
self.pub_novel = self.create_publisher(String, "sexy_girl",10 )
self.count = 0
self.timer_period = 5
self.account = 80
self.timer = self.create_timer(self.timer_period, self.timer_callback)
self.sub_money = self.create_subscription(UInt32,"sexy_girl_money",self.recv_money_callback,10)
self.borrow_server = self.create_service(BorrowMoney,"borrow_money",self.borrow_money_callback)
# 服务端回调函数
def borrow_money_callback(self, request, response):
"""
request: 来自客户端的请求数据
response: 来自客户端的响应数据
编写回调函数处理请求
"""
self.get_logger().info("收到%s的借钱请求,账户目前有%d"%(request.name, self.account))
if request.money <= self.account*0.1:
response.success = True
response.money = request.money
self.account = self.account - request.money
self.get_logger().info("借出%d,目前还剩%d"%(request.money, self.account))
else:
response.success = False
response.money = 0
self.get_logger().info("对不起,现在手头紧,不能借给你")
return response
def timer_callback(self):
msg = String()
msg.data = "第%d回 潋滟湖,第 %d 次偶遇言娘"%(self.count,self.count)
self.pub_novel.publish(msg) #让发布者发布消息
self.get_logger().info("发布了一个章节的小说的内容%s" %msg.data) #获取节点日志
self.count += 1
def recv_money_callback(self,money):
self.account += money.data
self.get_logger().info("收到了%d的稿费,现在账户里有%d的钱" %(money.data,self.account)) # %后面有多个要补上()
关于 TypeError 报错
需要注意的是服务端的回调函数与以往的话题回调函数有区别因为话题回调函数是单向的,因此不需要return 一个返回值,而服务是双向的因此需要return 一下response。
我之前因为忘记return ,程序出来一个很奇怪的报错
File "/home/ywq/town_ws/install/village_li/lib/village_li/li4_node", line 33, in <module>
sys.exit(load_entry_point('village-li==0.0.0', 'console_scripts', 'li4_node')())
File "/home/ywq/town_ws/install/village_li/lib/python3.10/site-packages/village_li/li4.py", line 82, in main
rclpy.spin(li4_node)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
executor.spin_once()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
self._spin_once_impl(timeout_sec)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 736, in _spin_once_impl
raise handler.exception()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
self._handler.send(None)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 437, in handler
await call_coroutine(entity, arg)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 392, in _execute_service
srv.send_response(response, header)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/service.py", line 73, in send_response
raise TypeError()
TypeError
[ros2run]: Process exited with failure 1
服务端回调函数加上return后问题解决。
2.客户端实现
客户端创建
# 创建客户端
self.borrow_client = self.create_client(BorrowMoney,"borrow_money")
编写客户端接收逻辑
def borrow_money_eat(self,money=10):
"""
调用客户端发送请求
"""
self.get_logger().info("借钱吃麻辣烫了,想借%d元"% money)
#确认服务是否在线,若在线则跳出循环
while not self.borrow_client.wait_for_service(1.0):
self.get_logger().warn("服务不在线,我再等等...")
#构造请求内容
requst = BorrowMoney.Request()
requst.name = self.get_name()
requst.money = money
# 发送异步借钱请求
self.borrow_client.call_async(requst).add_done_callback(self.borrow_response_callback)
客户端回调函数
def borrow_response_callback(self,response):
"""
借钱回调结果
"""
result = response.result()
if result.success:
self.get_logger().info("借到%d钱了,去吃麻辣烫了!"%result.money)
else:
self.get_logger().info("连%d钱都不给,真抠门!"%result.money)
主函数引用一下
li3_node.borrow_money_eat() # 调用借钱服务吃饭
(本篇文章基于鱼香ros网课)