服务调用--生成2只乌龟

需求描述:
编码实现向 turtlesim 发送请求，在乌龟显示节点的窗体指定位置生成一乌龟，这是一个服务请求操作

1.服务名称与服务消息获取

获取话题：

rosservice list

获取消息类型:

rosservice type /spawn

获取消息格式:

rossrv info turtlesim/Spawn

以命令的方式调用服务，生成一只小乌龟：

rosservice call /spawn 'Tab键补齐'

2.服务客户端实现

C++

#include "ros/ros.h"
#include "turtlesim/Spawn.h"

/*
    需求：是向服务端发送请求,生成一只新乌龟
        话题：/spawn
        消息：turtlesim/Spawn
    1.包含头文件
    2.初始化ROS节点
    3.创建节点句柄
    4.创建客户端对象
    5.组织数据并发布
    6.处理响应
*/

int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    // 2.初始化ROS节点
    ros::init(argc,argv,"service_call");
    // 3.创建节点句柄
    ros::NodeHandle nh;
    // 4.创建客户端对象
    ros::ServiceClient client = nh.serviceClient<turtlesim::Spawn>("/spawn");
    // 5.组织数据并发布
    //5-1 组织请求数据
    turtlesim::Spawn spawn;
    spawn.request.x = 1.0;
    spawn.request.y = 4.0;
    spawn.request.theta = 1.57;
    spawn.request.name = "turtle2";
    //5-2 发送请求
    //判断服务器状态(二选一)
    // ros::service::waitForService("/spawn");
    client.waitForExistence();
    bool flag = client.call(spawn);
    // 6.处理响应
    if (flag)
    {
        ROS_INFO("乌龟生成成功,新乌龟叫:%s",spawn.response.name.c_str());
    }else{
        ROS_INFO("请求失败!!!");
    }
    return 0;
}

运行launch文件：

roslaunch plumbing_test start_turtle.launch

运行文件：

rosrun plumbing_test test03_service_client

Python

注：用try进行异常处理

#! /usr/bin/env rospy
from urllib import request, response
import rospy
from turtlesim.srv import Spawn, SpawnRequest, SpawnResponse

"""
    需求:向服务器发送请求生成一只乌龟
        话题:spawn
        消息:turtlesim/Spawn
    1.导包
    2.初始化ROS节点
    3.组织服务的客户端对象
    4.组织数据并发送请求
    5.处理响应结果
"""

if __name__ == "__main__":

    # 2.初始化ROS节点
    rospy.init_node("service_call_p")
    # 3.组织服务的客户端对象
    client = rospy.ServiceProxy("/spawn",Spawn)
    # 4.组织数据并发送请求
    #4.1 组织数据
    request = SpawnRequest()
    request.x = 4.5
    request.y = 2.0
    request.theta = -3
    request.name = "turtle3"
    #4.2 判断服务器状态并发送
    client.wait_for_service()
    try:
        response = client.call(request)
        # 5.处理响应结果
        rospy.loginfo("生成乌龟的名字叫:%s",response.name)
    except Exception as e:
        rospy.logerr("请求处理异常")

运行launch文件：

roslaunch plumbing_test start_turtle.launch

运行文件：

rosrun plumbing_test test03_service_client_p.py