【ros学习笔记】-6 自定义服务数据类型

自定义服务数据类型

1 自定义服务数据

在包下创建srv文件夹，在该文件夹下：
创建文件：custom_srv.srv

uint8 x
uint8 y

---

uint8 result

配置方式与配置msg文件相同，即：
在package文件中添加依赖：

# 编译依赖
  <build_depend>message_generation</build_depend>
 # 执行依赖
  <exec_depend>message_runtime</exec_depend>

在CMakeList文件中添加编译选项：

配置好后编译；在工作空间/devel/include/包名/ 下会生成三个头文件

2 c++

目的：编写一个服务用于两个数相加

2.1 服务端

创建文件：custom_server.cpp

#include <ros/ros.h>
#include <service_pkg/custom_srv.h>

bool CallBack(service_pkg::custom_srv::Request& req, 
                    service_pkg::custom_srv::Response& res)
{
    ROS_INFO("-----------");
    res.result = req.x + req.y;
    ROS_INFO("result:%d",res.result);
    return true;
}

int main(int argc,char** argv){
    ros::init(argc,argv,"custom_server");
    ros::NodeHandle n;
    ros::ServiceServer ser = n.advertiseService("/server_temp",CallBack);
    ros::spin();
    return 0;
}

配置：

add_executable(custom_server src/custom_server.cpp)
target_link_libraries(custom_server ${catkin_LIBRARIES})

运行：

rosrun service_pkg custom_server
rosservice call /server_temp  双击tab键

2.2 客户端

创建文件：custom_client.cpp

#include <ros/ros.h>
#include <service_pkg/custom_srv.h>


int main(int argc,char** argv){
    ros::init(argc,argv,"custom_client");
    ros::NodeHandle n;
    ros::service::waitForService("/server_temp");

    ros::ServiceClient cli = n.serviceClient<service_pkg::custom_srv>("/server_temp",10);
    service_pkg::custom_srv srv;
    srv.request.x = 10;
    srv.request.y = 45;
    ROS_INFO("request:x:%d,y:%d", srv.request.x, srv.request.y);

    cli.call(srv);

    return 0;
}

配置完成后并运行：

3 python

实现的任务和c++一样

3.1 服务端

创建文件：custom_server.py

#!/usr/bin/env python
import rospy
from service_pkg.srv import custom_srv, custom_srvResponse


def CallBack(res):

    rospy.loginfo("------------------")
    rospy.loginfo(res.x+res.y)
    return custom_srvResponse(res.x+res.y)

def custom_server():
    rospy.init_node("custom_server")
    s = rospy.Service("/server_cus_py",custom_srv,CallBack)
    rospy.loginfo("-----ready-----")
    rospy.spin()

if __name__ == "__main__":
    custom_server()

将文件改为可执行文件

rosrun service_pkg custom_server.py
rosservice call /server_cus_py 双击tab键

3.2 客户端

创建文件：custom_client.py

#!/usr/bin/env python
import rospy
from service_pkg.srv import custom_srv


def custom_client():
    try:
        rospy.init_node("custom_client")
        rospy.wait_for_service("/server_cus_py")
        cli = rospy.ServiceProxy("/server_cus_py",custom_srv)
        # 发出请求
        rospy.loginfo("-------request---------")
        res = cli(34,45)

    except rospy.ServiceException as e:
        rospy.loginfo(e)

    
if __name__ == "__main__":
    custom_client()

运行：

4 文件排布最终结构