ROS学习笔记 server和client的编写

client

• 编写一个client给 service名为：/spawn，在指定位置求创建一个小海龟。

#include<ros/ros.h>
#include"turtlesim/Spawn.h"

int main(int argc, char **argv){
    ros::init(argc,argv,"turtle_spawn");
    //创建名为turtle_spawn的node

    ros::NodeHandle n;
	//创建句柄
    ros::service::waitForService("/spawn");//等待直到 service /spawn出现 才会继续执行

    ros::ServiceClient add_turtle = n.serviceClient<turtlesim::Spawn>("/spawn");//通过句柄创建数据类型为spwan的serviceclient

    turtlesim::Spawn msg;//定义数据对象与赋值
    msg.request.name = "zwh";
    msg.request.x = 1.0;
    msg.request.y = 2.0;
    
    ROS_INFO("add a turtle named = %s, at x = %.2f,y = %.2f",msg.request.name.c_str(),msg.request.x,msg.request.y);

    add_turtle.call(msg);//发送request 直到有response才会继续执行

    ROS_INFO("spawn turtle successfully name = %s",msg.response.name.c_str());
	//输出response
}

server

• 编写一个server控制是否使用publihser给控制小乌龟运动的topic/turtle/cmd_cvel发送信息，
• 其中service为/turtle_command

#include "geometry_msgs/Twist.h"
#include "std_srvs/Trigger.h"
#include <ros/ros.h>
bool pubcommand = false;
bool commandCallBack(std_srvs::Trigger::Request &req ,std_srvs::Trigger::Response &res){
    pubcommand = !pubcommand;
    ROS_INFO("moving is %s",pubcommand==true?"open":"close");
    res.success = true;
    res.message ="success change status";
    return true;
}
int main(int argc, char **argv) {
    ros::init(argc,argv,"tutle_command_server");
    ros::NodeHandle n;
    ros::ServiceServer turtle_server = n.advertiseService("/turtle_command",commandCallBack);
    //创建服务端 服务名为/turtle_command
    ros::Publisher tutle_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10);
    //创建publisher给海龟发送运动信息
    ros::Rate loop_rate(10);
    //设置循环频率
    ROS_INFO("Ready to receive information");
    while(ros::ok()){
        ros::spinOnce();
        //运行回调函数
        if(pubcommand){
            geometry_msgs::Twist msg;
            msg.angular.z = 5;
            msg.linear.x = 10;
            tutle_pub.publish(msg);
        }
        loop_rate.sleep();
    }
    return 0;
}