ROS服务编程

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>