ROS学习 之 服务端 与 客户端

1. 

#include "ros/ros.h"
#include "my_package/AddTwoInts.h"

using namespace ros;

bool add(my_package::AddTwoInts::Request &req,
         my_package::AddTwoInts::Response&res){
    res.sum = req.a + req.b;
    ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
    ROS_INFO("sending back response: [%ld]",(long int)res.sum);
    return true;
}

int main(int argc, char** argv){
    init(argc, argv, "add_two_ints_serve");
    NodeHandle n;

    //广播服务：服务名字为add_two_ints, 收到服务请求调用 add 函数
    ServiceServer service = n.advertiseService("add_two_ints", add);
    ROS_INFO("Ready to add two ints.");
    spin();

    return 0;
}

 

#include "ros/ros.h"
#include "my_package/AddTwoInts.h"
#include <cstdlib>

using namespace ros;

int main(int argc, char** argv){
    init(argc, argv, "add_two_ints_client");
    if(argc != 3){
        ROS_INFO("usage:add_two_ints_client X Y");
        return 1;
    }
    NodeHandle n;
    ServiceClient client = n.serviceClient<my_package::AddTwoInts>("add_two_ints");
    my_package::AddTwoInts srv;
    srv.request.a = atoll(argv[1]);
    srv.request.b = atoll(argv[2]);
    if(client.call(srv)){
        ROS_INFO("Sum:%ld", (long int)srv.response.sum);
    }
    else{
        ROS_ERROR("Failed to call service add_two_ints");
        return 1;
    }
    return 0;
}