ROS-Service通信编程

1 ROS-Service通信编程

1.1 服务模型

• Client客户端（person_client）发布请求（Request）将信息发送给服务。
• Sever服务端（person_sever）接收到请求和数据内容，在对其最初应答（Response）
• service服务（show_person）
  如图：
  

1.2 基本步骤

• 1、创建功能包并编译
• 2、定义srv文件
• 3、修改package.xml文件
• 4、修改CMakeList.txt文件
• 5、编写程序
• 6、编译运行

1.3详细步骤

1.3.1 创建功能包并编译

• 1、进入工作空间中src中。

cd ~/catkin_ws/src/

• 2、创建功能包

ubuntu@ubuntu:~/catkin_ws/src$ catkin_create_pkg learning_sevice roscpp rospy std_msgs geometry_msgs turtlesim
Created file learning_sevice/package.xml
Created file learning_sevice/CMakeLists.txt
Created folder learning_sevice/include/learning_sevice
Created folder learning_sevice/src
Successfully created files in /home/ubuntu/catkin_ws/src/learning_sevice. Please adjust the values in package.xml.

• 3、编译工作空间
• 都编辑好在进行编译也可以。嫌麻烦的可以略过。

ubuntu@ubuntu:~/catkin_ws$ cd ~/catkin_ws/
ubuntu@ubuntu:~/catkin_ws$ catkin_make

1.3.2 定义srv文件

• 1、打开功能包路径，创建文件夹和文件

ubuntu@ubuntu:~/catkin_ws/src$ cd ~/catkin_ws/src/learning_sevice/
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice$ mkdir srv
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice$ cd srv/
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice/srv$ ls
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice/srv$ touch Person.srv
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice/srv$ ls
Person.srv

• 2、编写srv文件

ubuntu@ubuntu:~/catkin_ws/src/learning_sevice/srv$ gedit Person.srv 

• 写入以下内容

string name
uint8 age
uint8 sex

uint8 unknow = 0
uint8 male = 1
uint8 female = 2

---
string result

• 其中上面是Request的类型的定义，下面是Response的类型定义中间通过三个横线进行分隔。

1.3.3 修改package.xml文件

• 1、进入相应文件路径，打开文件

ubuntu@ubuntu:~/catkin_ws/src/learning_sevice/srv$ cd ../
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice$ ls
CMakeLists.txt  include  package.xml  src  srv
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice$ gedit package.xml 

• 2、输入以下内容，保存退出

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

1.3.4 修改CMakeList.txt文件

• 1、打开相应文件路径并打开文件

ubuntu@ubuntu:~/catkin_ws/src/learning_sevice$ gedit package.xml 
ubuntu@ubuntu:~/catkin_ws/src/learning_sevice$ gedit CMakeLists.txt

• 2、新增message_generation依赖包

find_package(catkin REQUIRED COMPONENTS
...
  message_generation
)

• 3、添加编译依赖和执行依赖

add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)

• 4、打开编译时需要的功能包

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_sevice
  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
#  DEPENDS system_lib
)

• 5、编译一下，查看增加是否有问题。自信的人可以略过。

ubuntu@ubuntu:~/catkin_ws$ cd ~/catkin_ws/
ubuntu@ubuntu:~/catkin_ws$ catkin_make

1.3.5 编写程序

• 1、在learning_sevice路径下的src中创建文件并编写person_server.cpp程序

// 头文件
#include <ros/ros.h>
#include "learning_service/Person.h"

// service回调函数，输入参数req，输出参数res
bool personCallback(learning_service::Person::Request  &req,
         			learning_service::Person::Response &res)
{
    // 显示请求数据
    ROS_INFO("Person: name:%s  age:%d  sex:%d", req.name.c_str(), req.age, req.sex);
	// 设置反馈数据
	res.result = "OK";
    return true;
}

int main(int argc, char **argv)
{
    // ROS节点初始化
    ros::init(argc, argv, "person_server");

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个名为/show_person的server，注册回调函数personCallback
    ros::ServiceServer person_service = n.advertiseService("/show_person", personCallback);

    // 循环等待回调函数
    ROS_INFO("Ready to show person informtion.");
    ros::spin();

    return 0;
}

• 2、在learning_sevice路径下的src中创建文件并编写person_client.cpp程序

#include <ros/ros.h>
#include "learning_service/Person.h"

int main(int argc, char** argv)
{
    // 初始化ROS节点
	ros::init(argc, argv, "person_client");
    // 创建节点句柄
	ros::NodeHandle node;
	
    // 发现/spawn服务后，创建一个服务客户端，连接名为/spawn的service
	ros::service::waitForService("/show_person");
	ros::ServiceClient person_client = node.serviceClient<learning_service::Person>("/show_person");

    // 初始化learning_service::Person的请求数据
	learning_service::Person srv;
	srv.request.name = "Tom";
	srv.request.age  = 20;
	srv.request.sex  = learning_service::Person::Request::male;

    // 请求服务调用
	ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]", 
			 srv.request.name.c_str(), srv.request.age, srv.request.sex);

	person_client.call(srv);
	// 显示服务调用结果
	ROS_INFO("Show person result : %s", srv.response.result.c_str());
	return 0;
};

1.3.6 编译运行

ubuntu@ubuntu:~/catkin_ws$ cd ~/catkin_ws/
ubuntu@ubuntu:~/catkin_ws$ catkin_make