ROS 编写简单的Service和Client (C++ catkin)

一. 编写service节点

• 这里，我们将创建一个简单的service节点("add_two_ints_server")，该节点将接收到两个整形数字，并返回它们的和。
• 进入先前你在catkin workspace教程中所创建的beginner_tutorials包所在的目录：

cd ~/catkin_ws/src/beginner_tutorials

• 请确保已经按照creating the AddTwoInts.srv教程的步骤创建了本教程所需要的srv

• 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

//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。
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"

//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。
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;

  //这里，service已经建立起来，并在ROS内发布出来
  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
  ROS_INFO("Ready to add two ints.");
  ros::spin();

  return 0;
}

 

二. 编写Client节点

• 在beginner_tutorials包中创建src/add_two_ints_client.cpp文件，并复制粘贴下面的代码：

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_client");
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }

  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
  beginner_tutorials::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  if (client.call(srv))
  {
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

代码解

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_client");
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }

  ros::NodeHandle n;
  //这段代码为add_two_ints service创建一个client，ros::ServiceClient 对象待会用来调用service
  ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");

  //这里，我们实例化一个由ROS编译系统自动生成的service类，并给其request成员赋值
  //atoll()： 参数：包含整数表示的C字符串；返回转换后的整数作为long long int值
  beginner_tutorials::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);

  //这段代码是在调用service
  //由于service的调用是模态过程（调用的时候占用进程阻止其他代码的执行），一旦调用完成，将返回调用结果。
  if (client.call(srv))
  {
    //如果service调用成功，call()函数将返回true，srv.response里面的值将是合法的值
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
    //如果调用失败，call()函数将返回false，srv.response里面的值将是非法的
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

 

三. 编译节点

• 编辑文件位于~/catkin_ws/src/beginner_tutorials/CMakeLists.txt，并将下面的代码添加在文件末尾

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)