编写服务器和客户端

编写Service节点

   1 #include "ros/ros.h"
   2 #include "beginner_tutorials/AddTwoInts.h"		//由之前创建的srv自动生成的头文件
   3 
   4 bool add(beginner_tutorials::AddTwoInts::Request  &req,	//函数提供两个int求和的服务，int值从request里获取，返回数据装入response
   5          beginner_tutorials::AddTwoInts::Response &res)
   6 {
   7   res.sum = req.a + req.b;
   8   ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
   9   ROS_INFO("sending back response: [%ld]", (long int)res.sum);
  10   return true;
  11 }
  12 
  13 int main(int argc, char **argv)
  14 {
  15   ros::init(argc, argv, "add_two_ints_server");
  16   ros::NodeHandle n;
  17 
  18   ros::ServiceServer service = n.advertiseService("add_two_ints", add);	//服务建立并且在ros里发布
  19   ROS_INFO("Ready to add two ints.");
  20   ros::spin();
  21 
  22   return 0;
  23 }

编写Client节点

   1 #include "ros/ros.h"
   2 #include "beginner_tutorials/AddTwoInts.h"
   3 #include <cstdlib>
   4 
   5 int main(int argc, char **argv)
   6 {
   7   ros::init(argc, argv, "add_two_ints_client");
   8   if (argc != 3)
   9   {
  10     ROS_INFO("usage: add_two_ints_client X Y");
  11     return 1;
  12   }
  13 
  14   ros::NodeHandle n;
  15   ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");	为add_two_ints创建一个client，ROS::ServiceClient
待会调用服务

  16   beginner_tutorials::AddTwoInts srv;
  17   srv.request.a = atoll(argv[1]);
  18   srv.request.b = atoll(argv[2]);		//实例化由ros编译系统生成的service类，并给其request赋值
  19   if (client.call(srv))
  20   {
  21     ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  22   }
  23   else
  24   {
  25     ROS_ERROR("Failed to call service add_two_ints");
  26     return 1;
  27   }
  28 
  29   return 0;
  30 }

CMakeLists.txt

  27 add_executable(add_two_ints_server src/add_two_ints_server.cpp)
  28 target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
  29 add_dependencies(add_two_ints_server beginner_tutorials_gencpp)
  30 
  31 add_executable(add_two_ints_client src/add_two_ints_client.cpp)
  32 target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
  33 add_dependencies(add_two_ints_client beginner_tutorials_gencpp)