客户端发送Spawn请求,Server处理请求,完成后返回Reponse。
1.创建功能包:
在catkin_ws/src目录下执行:
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
2.在src目录下新建turtle_spawn.cpp:
/**
* 该例程将请求/spawn服务,服务数据类型turtlesim::Spawn
*/
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "turtle_spawn");
// 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("/spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
// 初始化turtlesim::Spawn的请求数据
turtlesim::Spawn srv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2";
// 请求服务调用
ROS_INFO("Call service to spwan turtle[x:%0.6f, y:%0.6f, name:%s]",
srv.request.x, srv.request.y, srv.request.name.c_str());
add_turtle.call(srv);
// 显示服务调用结果
ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
};
3.配置CMakeLists.txt:
- 设置需要编译的代码和生成的可执行文件;
- 设置链接库;
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${ctakin_LIBRARIES})
4.编译:
在/catkin_ws目录下执行catkin_make
,编译完成后可以在/catkin_ws/devel目录下找到新生成的可执行文件。
5.运行:
roscore
rosrun turtlesim turtlesim_node
rosrun lesrning_service turtle_spawn