ROS服务数据自定义

服务数据的定义与话题数据大部分相同，唯一要注意的一处是在CMakeLists.txt文件中，服务数据的定义应为：

add_service_files(FILES man.srv)

服务端

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import time, thread
import rospy
from geometry_msgs.msg import Twist
from test.srv import man,manResponse,manRequest

pubcommand=True
def callback(req):
    global pubcommand
    pubcommand = bool(1 - pubcommand)
    rospy.loginfo("call the callback! %s", pubcommand)
    return manResponse(req.name)


def simpleservice():
    rospy.init_node('sxcservice')
    s = rospy.Service('/test01', man, callback)
    print man
    print 'wait!!'
    rospy.spin()


if __name__ == '__main__':
    simpleservice()

客户端

#!/usr/bin/env python
# coding=utf-8
import rospy
from test.srv import man,manRequest


def showresult():
    # ROS节点初始化，生成节点addturtle
    rospy.init_node('addturtle')
    # 等待'/spawn'服务，若无一直等待
    rospy.wait_for_service('/test01')
    try:
        # 创建一个连接名为'/spawn'的服务，数据类型为Spawn
        showin = rospy.ServiceProxy('/test01', man)
        # 调用请求服务，输入请求参数，并得到服务端返回结果
        response = showin('sxc',1,1 )
        return response.result
    except rospy.ServiceException, e:
        print e


if __name__ == '__main__':
    rospy.loginfo("creat turtle,name: %s", (showresult()))