1、server文件
/**
* AddTwoInts Server
*/
#include "ros/ros.h"
#include "learn_server/AddTwoInts.h"
// service回调函数,输入参数req,输出参数res
bool add(learn_server::AddTwoInts::Request &req,
learn_server::AddTwoInts::Response &res)
{
// 将输入参数中的请求数据相加,结果放到应答变量中
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节点初始化
ros::init(argc, argv, "add_two_ints_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为add_two_ints的server,注册回调函数add()
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
// 循环等待回调函数
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
2、client文件
/**
* AddTwoInts Client
*/
#include <cstdlib>
#include "ros/ros.h"
#include "learn_server/AddTwoInts.h"
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "add_two_ints_client");
// 从终端命令行获取两个加数
if (argc != 3)
{
ROS_INFO("usage: add_two_ints_client X Y");
return 1;
}
// 创建节点句柄
ros::NodeHandle n;
// 创建一个client,请求add_two_int service,service消息类型是learn_server::AddTwoInts
ros::ServiceClient client = n.serviceClient<learn_server::AddTwoInts>("add_two_ints");
// 创建learn_server::AddTwoInts类型的service消息
learn_server::AddTwoInts srv;
srv.request.a = atoll(argv[1]);
srv.request.b = atoll(argv[2]);
// 发布service请求,等待加法运算的应答结果
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;
}
3、在功能包目录下创建srv文件夹,在此文件夹下面创建AddTwoInts.srv文件
int64 a
int64 b
---
int64 sum
4、CMakeList.txt文件
cmake_minimum_required(VERSION 2.8.3)
project(learn_server)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## Generate services in the 'srv' folder
add_service_files(
FILES
AddTwoInts.srv
)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(
CATKIN_DEPENDS
roscpp
rospy
std_msgs
message_runtime
)
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
add_executable(client src/client.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependencies(client ${PROJECT_NAME}_gencpp)
add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependencies(server ${PROJECT_NAME}_gencpp)
5、package.xml文件
<?xml version="1.0"?>
<package format="2">
<name>learn_server</name>
<version>0.0.0</version>
<description>The learn_server package</description>
<maintainer email="patience@todo.todo">patience</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>