ROS的service和client的复习 --生成新的小乌龟和复位

生成小乌龟和复位

生成小乌龟-前置条件 turtlesim

我们知道，要生成小乌龟需要调用服务，那么这个service是什么呢？
首先，我们要在终端调用turtlesim

rosrun turtlesim turtlesim_node 

然后查看它所调用的service

rosservice list

可以看到目前调用到的service

/clear
/key/get_loggers
/key/set_logger_level
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/turtle1/get_loggers
/turtle1/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative

其中/spawn就是它生成新乌龟的服务

那我们接下来就要看看他的类型是啥样的，都用到了什么参数

rosservice info /spawn

可以看到下面的日志输出，其中Type和Args是很重要的内容，Type对应了我们写c++文件和python文件时要导入的自定义的消息类型，Args是调用服务时所需要输入的参数。

Node: /turtle1
URI: rosrpc://liqunzhao-virtual-machine:34355
Type: turtlesim/Spawn
Args: x y theta name
liqunzhao@liqunzhao-virtu

生成小乌龟-文件配置 CMakeList和package.xml

有了上述的内容，我们就可以开始写代码了，这里我用的是clion来写的，首先我们要生成新的pkg包

cd 工作目录/src
catkin_create_pkg turtle_control roscpp rospy std_msgs
cd ..
catkin_make

然后我们要编辑turtle_control目录下的CMakeList和package.xml

CMakeList.txt

CMakeList里修改下面几个部分

find_package(catkin REQUIRED COMPONENTS
        roscpp
        rospy
        std_msgs
        turtlesim

)

add_executable(turtle_service_client src/turtle_service_client.cpp)
target_link_libraries(turtle_service_client
        ${catkin_LIBRARIES}
        )

package.xml

增加由turtlesim带来的新功能

<exec_depend>turtlesim</exec_depend>
<build_depend>turtlesim</build_depend>

生成小乌龟-代码编写C++

由于服务端系统已经给了，我们只需要写client端，把我们的需求提交到/spawn，并响应就可以了。

#include "ros/ros.h"
#include "turtlesim/Spawn.h"

int main(int argc, char *argv[]) {
    setlocale(LC_ALL, "");
    ros::init(argc, argv, "turtle_service_client");
    ros::NodeHandle nh;
    // create client, note that the name of client should be /spawn
    ros::ServiceClient client = nh.serviceClient<turtlesim::Spawn>("/spawn");
    // we need to give the vlaue of the service type msg : turtlesim::Spawn
    turtlesim::Spawn spawn;
    // request data
    spawn.request.x =1.0;
    spawn.request.y =4;
    spawn.request.theta =1.57;
    spawn.request.name ="hey_turtle";
    // send data
    ros::service::waitForService("/spawn");
    // note that client.call is a bool type
    bool flag = client.call(spawn);
    if (flag){
        ROS_INFO("turtle already done, name:%s",spawn.response.name.c_str());
    }
    else {
        ROS_INFO("Error");
    }
    return 0;
}

生成小乌龟-代码编写Python

#! /usr/bin/env python
# coding utf-8
import rospy
from turtlesim.srv import Spawn, SpawnRequest, SpawnResponse

if __name__ == '__main__':
    rospy.init_node("spawn_by_py")
    client = rospy.ServiceProxy("/spawn", Spawn)
    request = SpawnRequest()
    request.x = 1.0
    request.y = 4.0
    request.theta = 1.57
    request.name = "hey_turtle_py4"
    response = SpawnResponse(request)
    client.wait_for_service()
    try:
        doCall = client.call(request)
        rospy.loginfo("the new turtle is down,\n%s", response.name)
    except Exception as e:
        rospy.loginfo("error")

#! /usr/bin/env python
# coding utf-8
import rospy
from turtlesim.srv import Spawn, SpawnRequest, SpawnResponse

if __name__ == '__main__':
    rospy.init_node("spawn_by_py")
    client = rospy.ServiceProxy("/spawn", Spawn)
    request = SpawnRequest()
    request.x = 1.0
    request.y = 4.0
    request.theta = 1.57
    request.name = "hey_turtle_py4"
    client.wait_for_service()
    try:
        doCall = client.call(request)
        rospy.loginfo("the new turtle is down,named:%s", doCall.name)
    except Exception as e:
        rospy.loginfo("error")

小乌龟复位

依葫芦画瓢，那么我们也可以进行小乌龟的复位。可以看到之前的service list里有/reset的这个服务口。那么我们就需要对它进行编写。我们就在当前建立好的基础下继续编写。

rosservice info /reset

Node: /turtle1
URI: rosrpc://liqunzhao-virtual-machine:34355
Type: std_srvs/Empty
Args: 

可以看到这个Type和Args。由于Args不需要提交任何参数，所以这里我们可以不使用request了

CMakeList.txt

CMakeList里修改下面这个部分

find_package(catkin REQUIRED COMPONENTS
        roscpp
        rospy
        std_msgs
        turtlesim
        std_srvs

)

add_executable(turtle_reset src/turtle_reset.cpp)
target_link_libraries(turtle_reset
        ${catkin_LIBRARIES}
        )

package.xml

不需要修改了

小乌龟复位代码

#include "ros/ros.h"
#include "std_srvs/Empty.h"

int main(int argc, char *argv[]) {
    setlocale(LC_ALL, "");
    ros::init(argc, argv, "turtle_reset");
    ros::NodeHandle nh;
    ros::ServiceClient client = nh.serviceClient<std_srvs::Empty>("/reset");
    std_srvs::Empty reset;
    // request data
    // send data
    ros::service::waitForService("/reset");
    bool flag = client.call(reset);
    if (flag){
        ROS_INFO("turtle_reset");
    }
    else {
        ROS_INFO("Error");
    }
    return 0;
}