ROS服务器和客户端

一、编写Service节点

#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;
}

#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。两个int值相加，并存入了response。然后一些关于request和response的信息被记录下来。最后，service完成计算后返回true值

 ros::ServiceServer service = n.advertiseService("add_two_ints", add);service已经建立起来，并在ROS内发布出来

二、编写Client节点

#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;
}

 ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");

为add_two_ints service创建一个client。ros::ServiceClient 对象待会用来调用service

 beginner_tutorials::AddTwoInts srv;
 srv.request.a = atoll(argv[1]);
 srv.request.b = atoll(argv[2]);

      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。一个service类包含两个成员request和response。同时也包括两个类定义Request和Response

 if (client.call(srv))

       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。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。如果调用失败，call()函数将返回false，srv.response里面的值将是非法的

三、修改CMakeLists.txt

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)

这段代码将生成两个可执行程序"add_two_ints_server"和"add_two_ints_client"