十三、编写简单的服务器和客户端 (C++)
(包名均以beginner_tutorials为例,执行十三、十四之前必须保证按照九创建ROS服务,即生成xxx.srv)
编写Service节点
1.$ cd ~/catkin_ws/src/beginner_tutorials
2.在beginner_tutorials包中创建src/add_two_ints_server.cpp文件,并复制粘贴下面的代码:
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
bool add(beginner_tutorials::AddTwoInts::Request &req,beginner_tutorials::AddTwoInts::Response &res)
{
res.sum = req.a + req.b;
ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
ROS_INFO("sending back response: [%ld]", (long int)res.sum);
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_server");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
代码解释:
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
beginner_tutorials/AddTwoInts.h是由编译系统自动根据我们先前创建的srv文件生成的对应该srv文件的头文件。
bool add(beginner_tutorials::AddTwoInts::Request &req,
beginner_tutorials::AddTwoInts::Response &res)
这个函数提供两个int值求和的服务,int值从request里面获取,而返回数据装入response内,这些数据类型都定义在srv文件内部,函数返回一个boolean值。
res.sum = req.a + req.b;
ROS_INFO("request: x=%ld, y=%ld", (long int)r