ROS 小海龟turtle 客户端 C++实现

小海龟turtle 客户端 C++实现

/spawn [turtlesim/Spawn]

/*
 * 本代码请求/spawn连接，服务数据类型turtlesim::Spawn
 */

#include "ros/ros.h"
#include "turtlesim/Spawn.h"
using namespace ros;
int main(int argc, char **argv){
    //初始化ros节点
    init(argc, argv, "turtle_client");
    //创建节点句柄
    NodeHandle node;

    //发现/spawn服务后，创建一个服务客户端，连接名为/spawn的service
    service::waitForService("/spawn");
    ServiceClient ser = node.serviceClient<turtlesim::Spawn>("/spawn");

    Rate rate(1);

    int count = 0;
    //初始化turtlesim::Spawn的请求数据
    while (ok()){
        turtlesim::Spawn srv;
        srv.request.x = 1 + count;
        srv.request.y = 1 + count;
        srv.request.name = "turtle"+count;

        //服务请求调用
        ROS_INFO("send message service to spwan turtle:[x:%06f, y:%0.6f, name:%s]"
                ,srv.request.x, srv.request.y, srv.request.name.c_str());

        //等待服务端的应答
        ser.call(srv);

        //显示服务调用结果
        ROS_INFO("spwan turtle successfully [name:%s]",srv.response.name.c_str());

        count++;
        if(count>9){
            return 0;
        }
        rate.sleep();
    }

    return 0;
}

运行结果：