ROS 小海龟turtle 客户端 Python实现

小海龟turtle 客户端 Python实现

/spawn [turtlesim/Spawn]

#!/usr/bin/env python
#coding: utf-8
#  /spawn   turtlesim::Spawn

import sys
import rospy
from turtlesim.srv import Spawn

def turtle_spawn():
    #ros节点初始化
    rospy.init_node('turtle_spawn')

    #发现/spawn服务后。创建一个服务客户端，连接名为/spawn的service
    rospy.wait_for_service('/spawn')
    try:
        #初始化cil，连接点为/spawn，数据类型为Spawn
        cli = rospy.ServiceProxy('/spawn',Spawn)

        #请求服务调用，输入请求数据
        response = cli(2.0, 2.0, 0.0, "turtle2")
        return response.name
    except rospy.ROSInterruptException:
        pass


if __name__ == '__main__':
    #服务调用并显示调用结果
    print "Spwan turtle successfully[name:%s]" %(turtle_spawn())

运行结果：