2021-09-17 ROS2教程（三）-服务客户端创建（C++/Python）记录

参考

官方
http://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Cpp-Service-And-Client.html

中文翻译参考
https://zhuanlan.zhihu.com/p/353900264
https://zhuanlan.zhihu.com/p/353973863

C++版

1.0创建功能包（这里使用参数添加了依赖）C++版

ros2 pkg create --build-type ament_cmake cpp_srvcli --dependencies rclcpp example_interfaces

1.1在cpp_srvcli/src下，创建add_two_ints_server.cpp，粘贴服务器代码

#include "rclcpp/rclcpp.hpp"
#include "example_interfaces/srv/add_two_ints.hpp"

#include <memory>

void add(const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request> request,
          std::shared_ptr<example_interfaces::srv::AddTwoInts::Response>      response)
{
  response->sum = request->a + request->b;
  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Incoming request\na: %ld" " b: %ld",
                request->a, request->b);
  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "sending back response: [%ld]", (long int)response->sum);
}

int main(int argc, char **argv)
{
  rclcpp::init(argc, argv);

  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("add_two_ints_server");

  rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service =
    node->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add);

  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add two ints.");

  rclcpp::spin(node);
  rclcpp::shutdown();
}

1.2在cpp_srvcli/src下，创建add_two_ints_client.cpp，粘贴客户端代码

#include "rclcpp/rclcpp.hpp"
#include "example_interfaces/srv/add_two_ints.hpp"

#include <chrono>
#include <cstdlib>
#include <memory>

using namespace std::chrono_literals;

int main(int argc, char **argv)
{
  rclcpp::init(argc, argv);

  if (argc != 3) {
      RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "usage: add_two_ints_client X Y");
      return 1;
  }

  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("add_two_ints_client");
  rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client =
    node->create_client<example_interfaces::srv::AddTwoInts>("add_two_ints");

  auto request = std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
  request->a = atoll(argv[1]);
  request->b = atoll(argv[2]);

  while (!client->wait_for_service(1s)) {
    if (!rclcpp::ok()) {
      RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
      return 0;
    }
    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "service not available, waiting again...");
  }

  auto result = client->async_send_request(request);
  // Wait for the result.
  if (rclcpp::spin_until_future_complete(node, result) ==
    rclcpp::FutureReturnCode::SUCCESS)
  {
    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Sum: %ld", result.get()->sum);
  } else {
    RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to call service add_two_ints");
  }

  rclcpp::shutdown();
  return 0;
}

1.3添加依赖

add_executable(server src/add_two_ints_server.cpp)
ament_target_dependencies(server
rclcpp example_interfaces)

add_executable(client src/add_two_ints_client.cpp)
ament_target_dependencies(client
  rclcpp example_interfaces)

install(TARGETS
  server
  client
  DESTINATION lib/${PROJECT_NAME})

1.4编译运行

rosdep install -i --from-path src --rosdistro foxy -y
colcon build --packages-select cpp_srvcli
. install/setup.bash
ros2 run cpp_srvcli server
ros2 run cpp_srvcli client 2 3

Python版

2.0创建功能包（这里使用参数添加了依赖）Python版

ros2 pkg create --build-type ament_python py_srvcli --dependencies rclpy example_interfaces

2.1在py_srvcli/py_srvcli下，创建service_member_function.py，粘贴服务器代码

from example_interfaces.srv import AddTwoInts

import rclpy
from rclpy.node import Node


class MinimalService(Node):

    def __init__(self):
        super().__init__('minimal_service')
        self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback)

    def add_two_ints_callback(self, request, response):
        response.sum = request.a + request.b
        self.get_logger().info('Incoming request\na: %d b: %d' % (request.a, request.b))

        return response


def main(args=None):
    rclpy.init(args=args)

    minimal_service = MinimalService()

    rclpy.spin(minimal_service)

    rclpy.shutdown()


if __name__ == '__main__':
    main()

2.2在py_srvcli/py_srvcli下，创建client_member_function.py，粘贴客户端代码

import sys

from example_interfaces.srv import AddTwoInts
import rclpy
from rclpy.node import Node


class MinimalClientAsync(Node):

    def __init__(self):
        super().__init__('minimal_client_async')
        self.cli = self.create_client(AddTwoInts, 'add_two_ints')
        while not self.cli.wait_for_service(timeout_sec=1.0):
            self.get_logger().info('service not available, waiting again...')
        self.req = AddTwoInts.Request()

    def send_request(self):
        self.req.a = int(sys.argv[1])
        self.req.b = int(sys.argv[2])
        self.future = self.cli.call_async(self.req)


def main(args=None):
    rclpy.init(args=args)

    minimal_client = MinimalClientAsync()
    minimal_client.send_request()

    while rclpy.ok():
        rclpy.spin_once(minimal_client)
        if minimal_client.future.done():
            try:
                response = minimal_client.future.result()
            except Exception as e:
                minimal_client.get_logger().info(
                    'Service call failed %r' % (e,))
            else:
                minimal_client.get_logger().info(
                    'Result of add_two_ints: for %d + %d = %d' %
                    (minimal_client.req.a, minimal_client.req.b, response.sum))
            break

    minimal_client.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()

2.3添加依赖

#setup.py
entry_points={
    'console_scripts': [
        'service = py_srvcli.service_member_function:main',
        'client = py_srvcli.client_member_function:main',
    ],
},

2.4编译运行

rosdep install -i --from-path src --rosdistro foxy -y
colcon build --packages-select py_srvcli
. install/setup.bash
ros2 run py_srvcli service
ros2 run py_srvcli client 2 3