ROS服务端和客户端编写

ROS服务端编写

#include "ros/ros.h"
#include "demo_serv_client/AddInts.h"

bool srv_func(demo_serv_client::AddInts::Request &request,
              demo_serv_client::AddInts::Response &response) {
    int num1 = request.num1;
    int num2 = request.num2;
    int sum = num1 + num2;
    response.sum = sum;
    ROS_INFO("收到的请求数据: num1 = %d,num2 = %d",num1,num2);
    ROS_INFO("求和结果： sum = %d",sum);

    return true;
}

int main(int argc, char *argv[]) {
    setlocale(LC_ALL, "");
    ROS_INFO("服务器端已启动");
    ros::init(argc, argv, "srv_demo");
    ros::NodeHandle nh;
    ros::ServiceServer srv = nh.advertiseService("AddInts", srv_func);
    ros::spin();
}

ROS客户端编写

#include "ros/ros.h"
#include "demo_serv_client/AddInts.h"

int main(int argc, char *argv[]) {
    setlocale(LC_ALL, "");
    ROS_INFO("客户端节点已经启动");
    ros::init(argc, argv,"demo_client");
    ros::NodeHandle nh;
    ros::ServiceClient client = nh.serviceClient<demo_serv_client::AddInts>("AddInts");
    demo_serv_client::AddInts ai;
    ai.request.num1 = 100;
    ai.request.num2 = 200;
    // 两个数值已经被写死
    bool flag = client.call(ai);
    if (flag) {
        ROS_INFO("响应成功!");
        ROS_INFO("响应结果 = %d",ai.response.sum);
    }
    else {
        ROS_INFO("处理失败");
    }

    ros::spin();
}

数据未写死

#include "ros/ros.h"
#include "demo_serv_client/AddInts.h"

int main(int argc, char *argv[]) {
    setlocale(LC_ALL, "");
    ROS_INFO("客户端节点已经启动");
    ros::init(argc, argv, "demo_client");
    ros::NodeHandle nh;
    ros::ServiceClient client = nh.serviceClient<demo_serv_client::AddInts>("AddInts");
    demo_serv_client::AddInts ai;
    std::cout<<"请输入num1和num2，用空格隔开"<<std::endl;
    std::cin >> ai.request.num1 >> ai.request.num2;
    bool flag = client.call(ai);
    if (flag) {
        ROS_INFO("响应成功!");
        ROS_INFO("响应结果 = %d", ai.response.sum);
    } else {
        ROS_INFO("处理失败");
    }

    ros::spin();
}

#include "ros/ros.h"
#include "demo_serv_client/AddInts.h"

int main(int argc, char *argv[]) {
    setlocale(LC_ALL, "");
    if (argc != 3) {
        ROS_INFO("提交的参数错误");
        return 1;
    }
    ROS_INFO("客户端节点已经启动");
    ros::init(argc, argv, "demo_client");
    ros::NodeHandle nh;
    ros::ServiceClient client = nh.serviceClient<demo_serv_client::AddInts>("AddInts");
    demo_serv_client::AddInts ai;
    //std::cout << "请输入num1和num2，用空格隔开" << std::endl;
    //std::cin >> ai.request.num1 >> ai.request.num2;
    ai.request.num1 = atoi(argv[1]);
    ai.request.num2 = atoi(argv[2]);
    //等待服务器挂起方式1
    client.waitForExistence();
	//等待服务器挂起方式2
	ros::service::waitForService("服务的话题")
    bool flag = client.call(ai);
    if (flag) {
        ROS_INFO("响应成功!");
        ROS_INFO("响应结果 = %d", ai.response.sum);
    } else {
        ROS_INFO("处理失败");
    }
}