客户端Client编程实现-ROS

service接收到请求之后需要产生一只海龟并做出响应
1.创建包

catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim

2.编写.cpp代码

初始化ROS节点;
创建一个Client实例;
发布服务请求数据;
等待Server处理之后的应答结果。

turtle_spawn.cpp:

/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/

/**
 * 该例程将请求/spawn服务，服务数据类型turtlesim::Spawn
 */

#include <ros/ros.h>
#include <turtlesim/Spawn.h>

int main(int argc, char** argv)
{
    // 初始化ROS节点
	ros::init(argc, argv, "turtle_spawn");

    // 创建节点句柄
	ros::NodeHandle node;

    // 发现/spawn服务后，创建一个服务客户端，连接名为/spawn的service
	ros::service::waitForService("/spawn");
	ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");

    // 初始化turtlesim::Spawn的请求数据
	turtlesim::Spawn srv;
	srv.request.x = 2.0;
	srv.request.y = 2.0;
	srv.request.name = "turtle2";

    // 请求服务调用
	ROS_INFO("Call service to spwan turtle[x:%0.6f, y:%0.6f, name:%s]", 
			 srv.request.x, srv.request.y, srv.request.name.c_str());

	add_turtle.call(srv);

	// 显示服务调用结果
	ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());

	return 0;
};

3.修改CMakeList.txt
添加如下内容

add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})

4.编译：
跳转到工作空间目录输入

catkin_make

5.配置环境变量

source devel/setup.bash

5.运行：
两个个终端分别运行：

 roscore
 rosrun turtlesim turtlesim_node

在打开一个终端，cd到工作空间
输入

source devel/setup.bash
rosrun learning_service turtle_spaw

两只海龟