ROS1入门4---Service server cpp

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已于 2023-01-01 23:41:02 修改

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分类专栏： ROS1学习笔记文章标签： ubuntu linux

于 2023-01-01 23:38:47 首次发布

本文链接：https://blog.csdn.net/qq_44759447/article/details/128517134

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ROS1(Robot Operating System) 入门学习笔记

Ubuntu 18.04

ROS melodic 1.14.13

环境变量添加详见: ROS1入门1---工作空间与功能包

进入上篇文章中创建的 /service_pkg/src 文件夹中

ROS1入门3---Service Client cpp

新建文件 command_server.cpp 内容如下

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_srvs/Trigger.h>

ros::Publisher value_pub;

bool pubflag = false;

bool commandCallback(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
{
    pubflag = !pubflag;

    ROS_INFO("State : %s", pubflag == true ? "Run" : "Stop");

    res.success = true;

    res.message = "change state";

    return true;
}

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

    ros::ServiceServer server = n.advertiseService("/my_command", commandCallback);

    value_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);

    ROS_INFO("Waiting for command...");

    ros::Rate loop_rate(10);

    while (ros::ok())
    {
        ros::spinOnce();

        if (pubflag == true)
        {
            geometry_msgs::Twist cmd_vel;
            cmd_vel.linear.x = 0.5;
            cmd_vel.angular.z = 0.3;
            value_pub.publish(cmd_vel);
        }
        loop_rate.sleep();
    }
}

编辑 ROS1_Learn/src/service_pkg/CMakeLists.txt

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