ROS写srv且自动建立h头文件

这里是教程

写ros的srv

新建包

mkdir -p ROSworkspace/second_ws/src
cd ROSworkspace/second_ws
catkin_make

新建srv的pkg

cd src
catkin_create_pkg service_demo roscpp rospy std_msgs
cd service_demo
mkdir srv
gedit Greeting.srv

里面的内容为

string name
int32 age
---
string feedback

然后要修改CMakeList.txt和package.xml

Package.xml

在里面新增

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

CMakeList.txt

在里面修改：

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

add_service_files(
  FILES
  Greeting.srv
)

generate_messages(
#   DEPENDENCIES
#   std_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES service_demo
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
  LIBRARIES service_demo
  CATKIN_DEPENDS message_runtime
)

在最后一行加上

include_directories(include ${catkin_INCLUDE_DIRS})

最后一步

回到second_ws的目录下

catkin_make

这样在devel的include里就会有service_demo
而且里面自动生成三个头文件