ROS基础（五）服务数据的定义与使用

学习ROS基础的电子笔记，摘录自各类ROS基础课程，文末会附上本次内容参考的相关课程视频链接。

实现一个服务模型：
（1）client端发送显示某个人信息的的request，同时将该人的信息以learning_service::Person的数据格式发出去；
（2）server端通过话题/show_person响应client端的request；

1. 自定义服务数据

• 定义srv数据

// 创建新的文件夹
cd ~/catkin_ws/src/learning_service
mkdir srv

vim srv/Person.srv 
string name
uint8 age
uint8 sex

uint8 unknown = 0
uint8 male = 1
uint8 female = 2

---
string result

ROS规定，三个横线是分割线，其上为request的消息格式，其下为response的消息格式。

• 在package.xml中添加功能包依赖

vim ~/catkin_ws/src/learning_service/package.xml
<build_export_depend>message_generation</build_export_depend>
<exec_depend>message_runtime</exec_depend>

• 在CMakeLists.txt中添加编译选项

vim ~/catkin_ws/src/learning_service/CMakeLists.txt
find_package(catkin REQUIRED COMPONENTS
  ...
  message_generation
)
 add_service_files(
   FILES
#   Service1.srv
#   Service2.srv
   Person.srv
 )
  generate_messages(
   DEPENDENCIES
#   geometry_msgs
    std_msgs
 )
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_service
  CATKIN_DEPENDS geometry_msgs roscpp rospy turtlesim message_runtime
#  DEPENDS system_lib
)

cd ~/catkin_ws
catkin_make

出现如下结果，证明编译成功：

编译成功后，与learning_topic不同的是，devel/include/learning_service目录下有三个文件，Person.h; PersonRequest.h; PersonResponse.h 文件，这是因为我们在编写srv文件时就用分割线分出来request与response消息格式。

2. 编写person_client.cpp文件

vim ~/catkin_ws/src/learning_service/src/person_client.cpp
/**
 * 该例程将请求/show_person服务，服务数据类型learning_service::Person
 */

#include <ros/ros.h>
#include "learning_service/Person.h"

int main(int argc, char** argv) {
        // 初始化ROS节点
        ros :: init (argc, argv, "person_client") ;

        // 创建节点句柄
        ros :: NodeHandle n ;

        // 发现/show_person服务后，创建一个服务客户端，连接名为/show_person的service
        ros :: service :: waitForService("/show_person") ;
        ros :: ServiceClient person_client = n.serviceClient<learning_service :: Person>("/show_person") ;

        // 初始化learning_service :: Person的请求数据
        learning_service :: Person srv ;
        srv.request.name = "Alice" ;
        srv.request.age = 20 ;
        srv.request.sex = learning_service :: Person :: Request :: female ;

        // 请求服务调用
        ROS_INFO("Call service to show person [name: %s, age: %d, sex: %d]", srv.request.name.c_str(), srv.request.age, srv.request.sex) ;
        person_client.call(srv) ;

        // 显示服务调用结果
        ROS_INFO("Show person result: %s", srv.response.result.c_str()) ;


        return 0 ;
}

3. 编写person_server.cpp文件

vim ~/catkin_ws/src/learning_service/src/person_server.cpp
/**
 * 该例程将执行/show_person服务，服务数据类型learing_service::Person
 */

#include<ros/ros.h>
#include"learning_service/Person.h"

// service回调函数，输入参数req,输出res
bool personCallback(learning_service :: Person :: Request &req,
                 learning_service :: Person :: Response &res) {
        // 显示请求数据
        ROS_INFO("Person: name: %s, age: %d, sex: %d", req.name.c_str(), req.age, req.sex) ;

        // 设置反馈数据
        res.result = "OK" ;

        return true ;

}
int main(int argc, char** argv) {
        // ROS节点初始化
        ros :: init (argc, argv, "person_server") ;

        // 创建节点句柄
        ros :: NodeHandle n ;

        // 创建一个名为/show_person的server, 注册回调函数personCallback
        ros :: ServiceServer person_server = n.advertiseService("/show_person", personCallback) ;

        // 循环等待回调函数
        ROS_INFO("Ready to show person information.") ;
        ros :: spin() ;

        return 0 ;
}

4. 配置服务器、客户端代码编译规则

vim ~/catkin_ws/src/learning_service/CMakeLists.txt

 add_executable(person_server src/person_server.cpp)
 add_executable(person_client src/person_client.cpp)

 target_link_libraries(person_server
   ${catkin_LIBRARIES}
 )
 target_link_libraries(person_client
   ${catkin_LIBRARIES}
 )
 
 add_dependencies(person_server ${PROJECT_NAME}_gencpp)
 add_dependencies(person_client ${PROJECT_NAME}_gencpp)

// 编译程序
cd ~/catkin_ws
catkin_make

5.执行程序

// terminal1
roscore

// terminal2
source ~/catkin_ws/devel/setup.bash
rosrun learning_service person_server

// terminal3
source ~/catkin_ws/devel/setup.bash
rosrun learning_service person_client

运行结果如下：

参考课程: ROS入门21讲（古月居-第15讲）