ROS入门3.2（实例2）

实例：service_demo
3.server.cpp

// This is the C++ version server file of the service demo
//

// 加载必要文件，注意Service_demo的加载方式
#include “ros/ros.h”
#include “service_demo/Greeting.h”
#include “string”

// 定义请求处理函数
bool handle_function(service_demo::Greeting::Request &req,
service_demo::Greeting::Response &res)
{
// 此处我们对请求直接输出
ROS_INFO("Request from %s with age %d ", req.name.c_str(), req.age);

//返回一个反馈，将response设置为"…"
res.feedback = "Hi " + req.name + “. I’m server!”;
return true;
}

int main(int argc, char **argv)
{
// 初始化节点，命名为"greetings_server"
ros::init(argc, argv, “greetings_server”);
// 定义service的server端，service名称为“greetings”，收到request请求之后传递给handle_function进行处理
ros::NodeHandle nh;
ros::ServiceServer service = nh.advertiseService(“greetings”, handle_function);
// 调用可用处理函数
ros::spin();
return 0;
}
4.client.cpp

// This is client of the service demo
// 包含必要文件，注意Service文件的包含方式，我们定义的srv文件为Greeting.srv,在包含时需要写成Greeting.h
#include “ros/ros.h”
#include “service_demo/Greeting.h”

int main(int argc, char **argv)
{
// 初始化，节点命名为"greetings_client"
ros::init(argc, argv, “greetings_client”);
// 定义service客户端，service名字为“greetings”，service类型为Service_demo
ros::NodeHandle nh;
ros::ServiceClient client = nh.serviceClient<service_demo::Greeting>(“greetings”);
// 实例化srv，设置其request消息的内容，这里request包含两个变量，name和age，见Greeting.srv
service_demo::Greeting srv;
srv.request.name = “HAN”;
srv.request.age = 20;
if (client.call(srv))
{
// 注意我们的response部分中的内容只包含一个变量response，另，注意将其转变成字符串
ROS_INFO(“Response from server: %s”, srv.response.feedback.c_str());
}
else
{
ROS_ERROR(“Failed to call service Service_demo”);
return 1;
}
return 0;
}
5.CmakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(service_demo)

##Compile as C++11, supported in ROS Kinetic and newer
#add_compile_options(-std=c++11)
##Find catkin macros and libraries
##if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
##is used, also find other catkin packages
find_package(catkin REQUIRED rospy roscpp std_msgs message_generation)

##System dependencies are found with CMake’s conventions
#find_package(Boost REQUIRED COMPONENTS system)
##Uncomment this if the package has a setup.py. This macro ensures
##modules and global scripts declared therein get installed
##See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
#catkin_python_setup()

################################################
##Declare ROS messages, services and actions ##
################################################

##To declare and build messages, services or actions from within this
##package, follow these steps:
##* Let MSG_DEP_SET be the set of packages whose message types you use in
##your messages/services/actions (e.g. std_msgs, actionlib_msgs, …).
##* In the file package.xml:
##* add a build_depend tag for “message_generation”
##* add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##* If MSG_DEP_SET isn’t empty the following dependency has been pulled in
##but can be declared for certainty nonetheless:
##* add a run_depend tag for “message_runtime”
##* In this file (CMakeLists.txt):
##* add “message_generation” and every package in MSG_DEP_SET to
##find_package(catkin REQUIRED COMPONENTS …)
##* add “message_runtime” and every package in MSG_DEP_SET to
##catkin_package(CATKIN_DEPENDS …)
##* uncomment the add__files sections below as needed
##and list every .msg/.srv/.action file to be processed
## uncomment the generate_messages entry below
##* add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES …)

##Generate messages in the ‘msg’ folder
#add_message_files(
#FILES
#Message1.msg
#Message2.msg
#)

##Generate services in the ‘srv’ folder
add_service_files(
FILES
Greeting.srv
)

##Generate actions in the ‘action’ folder
#add_action_files(
#FILES
#Action1.action
#Action2.action
#)

##Generate added messages and services with any dependencies listed here
generate_messages(
#DEPENDENCIES
#std_msgs # Or other packages containing msgs
)

################################################
##Declare ROS dynamic reconfigure parameters ##
################################################

##To declare and build dynamic reconfigure parameters within this
##package, follow these steps:
##* In the file package.xml:
##* add a build_depend and a run_depend tag for “dynamic_reconfigure”
##* In this file (CMakeLists.txt):
##* add “dynamic_reconfigure” to
##find_package(catkin REQUIRED COMPONENTS …)
##* uncomment the “generate_dynamic_reconfigure_options” section below
##and list every .cfg file to be processed

##Generate dynamic reconfigure parameters in the ‘cfg’ folder
#generate_dynamic_reconfigure_options(
#cfg/DynReconf1.cfg
#cfg/DynReconf2.cfg
#)

###################################
##catkin specific configuration ##
###################################
##The catkin_package macro generates cmake config files for your package
##Declare things to be passed to dependent projects
##INCLUDE_DIRS: uncomment this if you package contains header files
##LIBRARIES: libraries you create in this project that dependent projects also need
##CATKIN_DEPENDS: catkin_packages dependent projects also need
##DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#INCLUDE_DIRS include
LIBRARIES service_demo
CATKIN_DEPENDS message_runtime

DEPENDS system_lib

)

###########
##Build ##
###########

##Specify additional locations of header files
##Your package locations should be listed before other locations
#include_directories(
#include
#${catkin_INCLUDE_DIRS}
#)

##Declare a C++ library
#add_library(KaTeX parse error: Expected 'EOF', got '#' at position 16: {PROJECT_NAME} #̲src/{PROJECT_NAME}/service_client_demo.cpp
#)

##Add cmake target dependencies of the library
##as an example, code may need to be generated before libraries
##either from message generation or dynamic reconfigure
#add_dependencies(${PROJECT_NAME} KaTeX parse error: Expected '}', got 'EOF' at end of input: {{PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

##Declare a C++ executable
##With catkin_make all packages are built within a single CMake context
##The recommended prefix ensures that target names across packages don’t collide
#add_executable(KaTeX parse error: Expected 'EOF', got '#' at position 32: …rc/server.cpp) #̲add_executable({PROJECT_NAME} src/client.cpp)

##Rename C++ executable without prefix
##The above recommended prefix causes long target names, the following renames the
##target back to the shorter version for ease of user use
##e.g. “rosrun someones_pkg node” instead of “rosrun someones_pkg someones_pkg_node”
#set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX “”)

##Add cmake target dependencies of the executable
##same as for the library above
#add_dependencies(${PROJECT_NAME}_node KaTeX parse error: Expected '}', got 'EOF' at end of input: {{PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

##Specify libraries to link a library or executable target against
#target_link_libraries(KaTeX parse error: Expected 'EOF', got '#' at position 16: {PROJECT_NAME} #̲{catkin_LIBRARIES}
#)

#############
##Install ##
#############

#all install targets should use catkin DESTINATION variables
#See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

##Mark executable scripts (Python etc.) for installation
##in contrast to setup.py, you can choose the destination
#install(PROGRAMS
#scripts/my_python_script
#DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)

##Mark executables and/or libraries for installation
#install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)

##Mark cpp header files for installation
#install(DIRECTORY include/${PROJECT_NAME}/
#DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#FILES_MATCHING PATTERN “*.h”
#PATTERN “.svn” EXCLUDE
#)

##Mark other files for installation (e.g. launch and bag files, etc.)
#install(FILES
##myfile1
##myfile2
#DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
#)

#############
##Testing ##
#############

##Add gtest based cpp test target and link libraries
#catkin_add_gtest(${PROJECT_NAME}-test test/test_service_client_demo.cpp)
#if(TARGET KaTeX parse error: Expected 'EOF', got '#' at position 22: …CT_NAME}-test) #̲target_link_lib…{PROJECT_NAME}-test ${PROJECT_NAME})
#endif()

##Add folders to be run by python nosetests
#catkin_add_nosetests(test)

include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(server src/server.cpp)
add_executable(client src/client.cpp)

add_dependencies(server KaTeX parse error: Expected '}', got 'EOF' at end of input: {{PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(client KaTeX parse error: Expected '}', got 'EOF' at end of input: {{PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(server ${catkin_LIBRARIES})
target_link_libraries(client ${catkin_LIBRARIES})

package.xml

<?xml version="1.0"?> service_demo 0.0.0 The service_demo package han

BSD

<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>message_generation</build_depend>

<run_depend>rospy</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>message_runtime</run_depend>

6.catkin_make