Clinent发出请求控制海龟运动与否;
Service发出海龟运动指令;
1.在包下新建文档
turtle_command_server.cpp:
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将执行/turtle_command服务,服务数据类型std_srvs/Trigger
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_srvs/Trigger.h>
//发布者
ros::Publisher turtle_vel_pub;
//海归是运动还是停止变量
bool pubCommand = false;
// service回调函数,输入参数req,输出参数res
bool commandCallback(std_srvs::Trigger::Request &req,
std_srvs::Trigger::Response &res)
{
pubCommand = !pubCommand;
// 显示请求数据
ROS_INFO("Publish turtle velocity command [%s]", pubCommand==true?"Yes":"No");
// 设置反馈数据
res.success = true;
res.message = "Change turtle command state!";
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "turtle_command_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为/turtle_command的server,注册回调函数commandCallback
//等待请求,收到请求执行commandCallback
ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback);
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 循环等待回调函数
ROS_INFO("Ready to receive turtle command.");
// 设置循环的频率
ros::Rate loop_rate(10);
while(ros::ok())
{
// 查看一次回调函数队列
ros::spinOnce();
// 如果标志为true,则发布速度指令
if(pubCommand)
{
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
turtle_vel_pub.publish(vel_msg);
}
//按照循环频率延时
loop_rate.sleep();
}
return 0;
}
- 修改包下的CMakeList.txt文件
添加如下内容
add_executable(turtle_command_server src/turtle_command_server.cpp)
target_link_libraries(turtle_command_server ${catkin_LIBRARIES})
3.编译
在工作空间下输入
catkin_make
4.配置环境
source devel/setup.bash
5.运行
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_command_server
6.在打开一个终端输入service请求,使turtle_command_server.cpp:执行命令,让海龟动起来:
rosservice call /turtle_command "{}"
再次发送该请求海龟就停下来了