ROS学习笔记7-编写简单的服务器和客户端 (C++)

1 前提

在/catkin_ws/src/beginner_tutorials/srv 目录下创建好AddTwoInts.srv

  1 int64 a
  2 int64 b
  3 ---
  4 int64 sum

2 编写server节点

[~/catkin_ws/src/beginner_tutorials]$ vim src/add_two_ints_server.cpp

add_two_ints_server.cpp内容如下：

  1 #include "ros/ros.h"
  2 /* 是编译器系统自动根据用户自己创建的srv文件生成的对应头文件 */
  3 #include "beginner_tutorials/AddTwoInts.h"
  4 
  5 bool add(beginner_tutorials::AddTwoInts::Request &req,
  6          beginner_tutorials::AddTwoInts::Response &res)
  7 {
  8     res.sum = req.a + req.b;
  9     ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
 10     ROS_INFO("sending back response: [%ld]", (long int)res.sum);
 11     return true;
 12 }
 13 
 14 
 15 int main(int argc, char **argv)
 16 {
 17     ros::init(argc, argv, "add_two_ints_server");
 18     ros::NodeHandle n;
 19     /* 创建server， 并在ros内发布出来 */
 20     ros::ServiceServer service = n.advertiseService("add_two_ints", add);
 21     ROS_INFO("Ready to add two ints.");
 22     ros::spin();
 23 
 24     return 0;
 25 }
 26 

3 编写client节点

[~/catkin_ws/src/beginner_tutorials]$ vim src/add_two_ints_client.cpp

add_two_ints_client.cpp内容如下：

  1 #include "ros/ros.h"
  2 #include "beginner_tutorials/AddTwoInts.h"
  3 #include <cstdlib>
  4 
  5 
  6 int main(int argc,char **argv)
  7 {
  8     ros::init(argc, argv, "add_two_ints_client");
  9     if(argc != 3)
 10     {
 11          ROS_INFO("usage: add_two_ints_client");
 12          return 1;
 13     }
 14 
 15     ros::NodeHandle n;
 16     ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoIn    ts>("add_two_ints");
 17     beginner_tutorials::AddTwoInts srv;
 18     srv.request.a = atoll(argv[1]);
 19     srv.request.b = atoll(argv[2]);
 20     if(client.call(srv))
 21     {
 22         ROS_INFO("Sum: %ld", (long int)srv.response.sum);
 23     }
 24     else
 25     {
 26          ROS_INFO("Failed to call service add_two_ints");
 27          return 1;
 28     }
 29 
 30     return 0;
 31 
 32 
 33 }
 34 
 35 

4 编译

修改CMakeLists.txt文件，在文件末尾增加

211 
212 add_executable(add_two_ints_server src/add_two_ints_server.cpp)
213 target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
214 add_dependencies(add_two_ints_server beginner_tutorials_gencpp)
215 
216 add_executable(add_two_ints_client src/add_two_ints_client.cpp)
217 target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
218 add_dependencies(add_two_ints_client beginner_tutorials_gencpp)

编译

[~/catkin_ws]$ catkin_make

5 验证

运行Service

rosrun beginner_tutorials add_two_ints_server

另启终端运行Client

rosrun beginner_tutorials add_two_ints_client 1 3

Service端显示：

Client端显示