ROS实现1个客户端向2个服务器请求service

建立工作空间，并在工作空间中建立src文件夹，返回ws文件夹，编译工作空间

mkdir ws/src
cd ws
catkin_make

进入src文件夹

cd src

建立程序包

catkin_create_pkg my_pkg std_msgs rospy roscpp

进入程序包中，在程序包中建立msg和srv文件夹，在msg文件夹中建立msg1.msg文件（空的即可，本例中不需要message类型），在srv文件夹中建立两个文件：srv1.srv和srv2.srv

srv1.srv中输入以下代码：

int32 A
int32 B
int32 C
---
int32 sum

srv2.srv中输入以下代码：

int32 A
int32 B
int32 C
---
int32 multiply

---表示分割客户端与服务器的数据类型，前面三个是客户端的请求的数据类型，后面是服务器的数据类型。

打开package.xml文件，把以下两句取消注释

<build_depend>message_generation</build_depend>

<exec_depend>message_runtime</exec_depend>

打开CMakeList.txt文件，做如下修改

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

add_message_files(
  FILES
  msg1.msg
)

add_service_files(
  FILES
  srv1.srv
  srv2.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES my_pkg
 CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(request src/request.cpp)     #这里括号里面，前面是节点名，后面是对应的cpp文件
add_executable(response src/response.cpp)
add_executable(response2 src/response2.cpp)

add_dependencies(request my_pkg_generate_messages_cpp)
add_dependencies(response my_pkg_generate_messages_cpp)
add_dependencies(response2 my_pkg_generate_messages_cpp)

target_link_libraries(request
  ${catkin_LIBRARIES}
)
target_link_libraries(response
  ${catkin_LIBRARIES}
)
target_link_libraries(response2
  ${catkin_LIBRARIES}
)

在ws/src/my_pkg/src中建立3个cpp文件，

request.cpp

#include "ros/ros.h"
#include "my_pkg/srv1.h"
#include "my_pkg/srv2.h"
#include <cstdlib>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_3_ints_client");    // ""中为节点名
  if (argc != 4)
  {
    ros::NodeHandle n;
    ros::ServiceClient client = n.serviceClient<my_pkg::srv1>("add_3_ints");
    // "add_3_ints" 为客户端名
    my_pkg::srv1 srv1;
    srv1.request.A = 1;
    srv1.request.B = 3;
    srv1.request.C = 8;
    client.call(srv1);
    ROS_INFO("call srv1");
    ROS_INFO("Sum: %ld", (long int)srv1.response.sum);
    
    ros::ServiceClient client2 = n.serviceClient<my_pkg::srv2>("multiply_3_ints");
    my_pkg::srv2 srv2;
    srv2.request.A = 2;
    srv2.request.B = 4;
    srv2.request.C = 6;
    client2.call(srv2);
    ROS_INFO("call srv1");
    ROS_INFO("Multiply: %ld", (long int)srv2.response.multiply);
  }

  return 0;
}

response.cpp

#include "ros/ros.h"
#include "my_pkg/srv1.h"

bool add(my_pkg::srv1::Request  &req,
         my_pkg::srv1::Response &res)
{
  res.sum = req.A + req.B + req.C;
  ROS_INFO("request: A=%ld, B=%ld C=%ld", (int)req.A, (int)req.B, (int)req.C);
  ROS_INFO("sending back response: [%ld]", (int)res.sum);
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_3_ints_server");  //"add_3_ints_server" 为节点名
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("add_3_ints", add); //"add_3_ints"为服务器名
  ROS_INFO("Ready to add 3 ints.");
  ros::spin();

  return 0;
}

response2.cpp

#include "ros/ros.h"
#include "my_pkg/srv2.h"

bool multiply(my_pkg::srv2::Request  &req,
              my_pkg::srv2::Response &res)
{
  res.multiply = req.A * req.B * req.C;
  ROS_INFO("request: A=%ld, B=%ld C=%ld", (int)req.A, (int)req.B, (int)req.C);
  ROS_INFO("sending back response: [%ld]", (int)res.multiply);
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "multiply_3_ints_server");
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("multiply_3_ints", multiply);
  ROS_INFO("Ready to multiply 3 ints.");
  ros::spin();

  return 0;
}

返回工作空间目录，编译工作空间

catkin_make

启动ROS

roscore

打开新的终端，进入工作空间目录 ws，并且source一下

source devel/setup.bash
rosrun my_pkg response

再打开新的终端，进入工作空间目录 ws，并且source一下

source devel/setup.bash
rosrun my_pkg response2

再打开新的终端，进入工作空间目录 ws，并且source一下，即可运行。

source devel/setup.bash
rosrun my_pkg request

总结，先建立工作空间，编译工作空间，创建程序包，创建msg srv文件，修改package.xml文件和CMakeList.txt文件，编写cpp或py文件，重新编译工作空间，最后运行ros即可。