ROS 创建服务和客户端

1自定义服务数据

使用---将请求和应答分隔开，src下建立Add.srv文件

int64 a
int64 b
---
int64 sum

然后配置package.xml文件：加入：

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

配置Cmakelist.txt文件：

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  message_generation
)
add_service_files(
  FILES
  Add.srv
 )

catkin_make编译。

2.编写server.cpp与client.cpp

#server.cpp
# include "ros/ros.h"
#include "ros_srv/Add.h"

bool add(ros_srv::Add::Request &req,ros_srv::Add::Response &res)
{
    res.sum=req.a+req.b;
    ROS_INFO("reauest: x=%ld,y=%ld",(long int)req.a,(long int)req.b);
    ROS_INFO("response: %ld",(long int)res.sum);
    return true;
}

int main(int argc, char * argv[])
{
    ros::init(argc, argv, "add_server");
    ros::NodeHandle n;
   ros::ServiceServer service =  n.advertiseService("add_two_ints", add);
    ROS_INFO("ready to add");
    ros::spin();
    return 0;
}

# include "ros/ros.h"
#include "ros_srv/Add.h"
#include<cstdlib>
int main(int argc,char **argv)
{
    ros::init(argc,argv,"client");
    if (argc !=3)
    {
        ROS_INFO("usage: add_two_client x y");
        return 1;
    }
    ros::NodeHandle n;
   ros::ServiceClient client = n.serviceClient<ros_srv::Add>("add_two_ints");
    ros_srv::Add srv;
    srv.request.a=atoll(argv[1]);
    srv.request.b=atoll(argv[2]);
    if (client.call(srv))
    {
        ROS_INFO("sum:%d",(long int)srv.response.sum);
    }
    else{
        ROS_ERROR("failed to call");
        return 1;
    }
    return 0;
}

添加依赖

add_executable(server src/server.cpp)
add_executable(client src/client.cpp)
add_dependencies(server ${PROJECT_NAMsE}_gencpp)
add_dependencies(client  ${PROJECT_NAME}_gencpp)
target_link_libraries(server   ${catkin_LIBRARIES} )
target_link_libraries(client   ${catkin_LIBRARIES} )

注意：最好在编译前source一下环境变量

source devel/setup.bash

编译成功。

roscore

rosrun ros_srv server

rosrun ros_srv client 3 5

 即可看到结果。