编写简单的服务器和客户端

binbinyantai

于 2020-02-09 10:09:10 发布

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分类专栏： Robot

本文链接：https://blog.csdn.net/wangbinyantai/article/details/104230140

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本文档介绍了如何在ROS环境中编写简单的服务器和客户端程序，并解决编译及运行时可能出现的问题。首先，通过catkin_make进行编译，然后在不同终端中执行服务器和客户端脚本。注意需要执行.devel/setup.bash来避免导入模块错误。

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根据tutorials，beginner tutorials中的src下建立对应的cpp文件，然后在cmakelist.txt（/root/catkin_ws/src/beginner_tutorials）中增加下面一段。


add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)

然后编译

root@ben-virtual-machine:~/catkin_ws# catkin_make
Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/root/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFI