本次我们将创建一个简单的service节点("add_two_ints_server"),该节点将接收到两个整形数字,并返回它们的和。
先在 catkin_ws/src/learning_communication/src 功能包下建两个 .cpp 文件,分别命名add_two_ints_server.cpp 、add_two_ints_client.cpp
(1)编写Service节点
打开add_two_ints_server.cppp文件,复制如下内容
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"
// service回调函数,输入参数req,输出参数res
bool add(learning_communication::AddTwoInts::Request &req,
learning_communication::AddTwoInts::Response &res)
{
// 将输入参数中的请求数据相加,结果放到应答变量中
res.sum = req.a + req.b;
ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
ROS_INFO("sending back response: [%ld]", (long int)res.sum);
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "add_two_ints_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为add_two_ints的server,注册回调函数add()
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
// 循环等待回调函数
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
(2)编写Client节点
打开add_two_ints_client.cpp文件,复制如下内容
#include <cstdlib>
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "add_two_ints_client");
// 从终端命令行获取两个加数
if (argc != 3)
{
ROS_INFO("usage: add_two_ints_client X Y");
return 1;
}
// 创建节点句柄
ros::NodeHandle n;
// 创建一个client,请求add_two_int service,service消息类型是learning_communication::AddTwoInts
ros::ServiceClient client = n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
// 创建learning_communication::AddTwoInts类型的service消息
learning_communication::AddTwoInts srv;
srv.request.a = atoll(argv[1]);
srv.request.b = atoll(argv[2]);
// 发布service请求,等待加法运算的应答结果
if (client.call(srv))
{
ROS_INFO("Sum: %ld", (long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service add_two_ints");
return 1;
}
return 0;
}
(3)编译节点
在 learning_communication 文件夹里面的 CMakeLists.txt 文件末尾加入几条语句:
这会生成两个可执行文件, 在:~/catkin_ws/devel/lib/learning_communication 中
add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server learning_communication_gencpp)
add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client learning_communication_gencpp)
编译节点:
cd ~/catkin_ws/
catkin_make
编译成功如下:
(4)运行节点
启动ROS
roscore
运行Service
rosrun learning_communication add_two_ints_server
运行Client,并附带两个加数
rosrun learning_communication add_two_ints_client 1314 521