ROS小练习（服务通信）

输入

mkdir ser_cli_ws

cd ser_cli_ws/

mkdir src

atkin_make

cd src

catkin_create_pkg ser_cli roscpp rospy std_msgs

cd ser_cli

mkdir srv

mkdir scripts

cd ..

code .

int32 num
---
string dec

#!/usr/bin/env python
import rospy
from ser_cli.srv import Love,LoveRequest
import sys


if __name__ == '__main__':
    if len(sys.argv)!= 2 :
        rospy.logerr('参数输入错误')
        sys.exit(1)
    rospy.init_node('cli')
    client = rospy.ServiceProxy('love',Love)
    client.wait_for_service()
    rep = LoveRequest()
    rep.num = int(sys.argv[1])
    resq = client.call(rep)
    rospy.loginfo('收到的回复是：%s',resq.dec)
    

#!/usr/bin/env python
import rospy
from ser_cli.srv import Love,LoveRequest,LoveResponse

def doCli(req):
    income = 2000
    sum = income + req.num
    if(sum<10000):
        rospy.loginfo('工资和是：%d,不够生活',sum)
        return "我不愿意"
    else:
        rospy.loginfo('工资和是：%d,够生活',sum)
        return"我愿意"
    
if __name__ == '__main__':
    rospy.init_node("ser")
    rospy.Service('love',Love,doCli)
    rospy.spin()

  <build_export_depend>message_generation</build_export_depend>
  <exec_depend>message_runtime</exec_depend>