使用rosserial实现ROS与Windows的service服务通信

小结

使用rosserial window来实现ROS与Windows的service服务通信，测试了add_two_ints的服务，并使用rosserial window在windows端创建Visual Studio C++连接使用创建的add_two_ints服务，并测试成功。

回顾：rosserial windows实现rostopic的发布和订阅

使用rosserial windows实现rostopic的发布和订阅的资料容易得到，网上有现成的，参见 https://github.com/Waywrong/ros_win_msg/tree/master/RosserialWin
和
http://wiki.ros.org/rosserial_windows

Rosserial Windows Client C++代码经过测试如下：

int main()
{
    std::cout << "Hello World!\n";
	ros::NodeHandle nh;

	char *ros_master = "192.168.86.28";// 运行rosseial服务器节点的主机IP

	printf("Connecting to server at %s\n", ros_master);
	nh.initNode(ros_master);

	printf("Advertising cmd_vel message\n");

	geometry_msgs::Twist twist_msg;

	ros::Publisher cmd_vel_pub("/turtle1/cmd_vel", &twist_msg);
	nh.advertise(cmd_vel_pub);

	printf("Go robot go!\n");

	while (1)
	{
		twist_msg.linear.x = 5.1;
		twist_msg.linear.y = 0;
		twist_msg.linear.z = 0;
		twist_msg.angular.x = 0;
		twist_msg.angular.y = 0;
		twist_msg.angular.z = -1.8;
		cmd_vel_pub.publish(&twist_msg);
		nh.spinOnce();
		Sleep(100);
	}

	printf("All done!\n");
	system("pause");
	return 0;
}

正题： 使用rosserial实现ROS与Windows的service服务通信

启动roscore

john@ubuntu:~$ roscore
... logging to /home/john/.ros/log/8ba9ec9a-10da-11ed-ad09-9d6885123387/roslaunch-ubuntu-6888.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:33213/
ros_comm version 1.15.14


SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES

auto-starting new master
process[master]: started with pid [6900]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 8ba9ec9a-10da-11ed-ad09-9d6885123387
process[rosout-1]: started with pid [6911]
started core service [/rosout]

启动add_two_ints的服务并测试

启动add_two_ints的服务：

john@ubuntu:~$ rosrun ros_cpp add_two_ints_server.py 
Ready to add two ints.

有以下服务：

john@ubuntu:~$ rosservice list
/add_two_ints
/add_two_ints_server/get_loggers
/add_two_ints_server/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level

在本机测试，返回成功的结果：

john@ubuntu:~$ rosrun ros_cpp add_two_ints_client.py 6 4
Requesting 6+4
6 + 4 = 10

服务端结果：

john@ubuntu:~$ rosrun ros_cpp add_two_ints_server.py 
Ready to add two ints.
Returning [6 + 4 = 10]

服务器与客户端的python代码如下：

• add_two_ints_server.py

#!/usr/bin/env python
  
from ros_essentials_cpp.srv import AddTwoInts
from ros_essentials_cpp.srv import AddTwoIntsRequest
from ros_essentials_cpp.srv import AddTwoIntsResponse

import rospy

def handle_add_two_ints(req):
    print ("Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b)))
    return AddTwoIntsResponse(req.a + req.b)

def add_two_ints_server():
    rospy.init_node('add_two_ints_server')
    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
    print ("Ready to add two ints.")
    rospy.spin()

if __name__ == "__main__":
    add_two_ints_server()

• add_two_ints_client.py:

#!/usr/bin/env python

import sys
import rospy
from ros_essentials_cpp.srv import AddTwoInts
from ros_essentials_cpp.srv import AddTwoIntsRequest
from ros_essentials_cpp.srv import AddTwoIntsResponse

def add_two_ints_client(x, y):
    rospy.wait_for_service('add_two_ints')
    try:
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
        resp1 = add_two_ints(x, y)
        return resp1.sum
    except rospy.ServiceException(e):
        print ("Service call failed: %s"%e)

def usage():
    return

if __name__ == "__main__":
    if len(sys.argv) == 3:
        x = int(sys.argv[1])
        y = int(sys.argv[2])
    else:
        print ("%s [x y]"%sys.argv[0])
        sys.exit(1)
    print ("Requesting %s+%s"%(x, y))
    s = add_two_ints_client(x, y)
    print ("%s + %s = %s"%(x, y, s))

使用rosserial Windows client C++实现与ROS的add_two_ints service服务通信

参考关于如何利用rosserial在windows和linux间实现service服务 和 arduino的rosserial的实现： rosserial/rosserial_arduino/src/ros_lib/examples/ServiceClient/ServiceClient.pde

rosserial Windows client C++实现代码如下：

#include <iostream>
#include <string>
#include <stdio.h>
#include "ros.h"
#include <ros_essentials_cpp/AddTwoInts.h>
#include <windows.h>

ros::NodeHandle nh;
using ros_essentials_cpp::AddTwoInts;

ros::ServiceClient<ros_essentials_cpp::AddTwoInts::Request, ros_essentials_cpp::AddTwoInts::Response> client("add_two_ints");

ros_essentials_cpp::AddTwoInts::Request req;
ros_essentials_cpp::AddTwoInts::Response res;

int main(int argc, char ** argv)
{
	std::cout << "Hello World!\n";
	char *ros_master = "192.168.86.28";

	if (argc != 3)
	{
		printf("usage: add_two_ints_client X Y");
		return 1;
	}

	printf("Connecting to server at %s\n", ros_master);
	nh.initNode(ros_master);

	nh.serviceClient(client);

	while (!nh.connected())
	{
		nh.spinOnce();
		nh.loginfo("John is connected");	
	}

	req.a = atoll(argv[1]);
	req.b = atoll(argv[2]);
	
	client.call(req, res);
	printf("Sum: %ld", (long int)res.sum);
	return 0;

}

成功的测试结果

这里要启动rosserial_server，

john@ubuntu:~$ rosrun rosserial_server socket_node
[ INFO] [1659280508.931238641]: Listening for rosserial TCP connections on port 11411

否则会报错：

Failed to receive data from server 10093
Send failed with error 10093
Failed to receive data from server 10093

rosserial Windows client C++客户端结果 （输入两个整数为5和20）：

Hello World!
Connecting to server at 192.168.86.28
Sum: 25
D:\ROS_ServiceTest\Debug\ROS_ServiceTest.exe (process 20108) exited with code 0.
To automatically close the console when debugging stops, enable Tools->Options->Debugging->Automatically close the console when debugging stops.
Press any key to close this window . . .

服务器结果如下：

john@ubuntu:~$ rosrun ros_essentials_cpp add_server.py 
Ready to add two ints.
Returning [6 + 4 = 10]
Returning [5 + 20 = 25]

串口处输出如下：

john@ubuntu:~$ rosrun rosserial_server socket_node
[ INFO] [1659280508.931238641]: Listening for rosserial TCP connections on port 11411
[ INFO] [1659280566.121354532]: John is connected
[ INFO] [1659280566.122366251]: John is connected
[ INFO] [1659280566.123935089]: John is connected
[ INFO] [1659280566.125541004]: John is connected
[ INFO] [1659280566.125794801]: John is connected
......
......
[ WARN] [1659280570.507645794]: Socket asio error, closing socket: system:104

参考

关于如何利用rosserial在windows和linux间实现service服务
Rosserial-embeddedlinux部署
ROS串口编程学习笔记
root / quad2 / arduino / src / ros_lib / examples / ServiceClient / ServiceClient.pde @ c1426757
Github: rosserial/rosserial_arduino/src/ros_lib/examples/ServiceClient/ServiceClient.pde
https://github.com/Waywrong/ros_win_msg/tree/master/RosserialWin
http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28python%29
http://wiki.ros.org/rosserial_windows
https://answers.ros.org/question/299081/call-service-from-arduino/
https://answers.ros.org/question/263060/what-arguments-for-rospyserviceproxy/
https://atadiat.com/en/e-rosserial-arduino-introduction/