ros服务通信自定义srv

---

1. 定义srv文件

服务通信中，数据分成两部分，请求与响应，在 srv 文件中请求和响应使用---分割。

在功能包下创建srv目录，添加ServiceMsg.srv文件，具体实现如下:

string name
---
bool on_the_list
bool good_guy
int32 age
string nickname

2.编辑配置文件

package.xml中添加编译依赖与执行依赖

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>
  <!-- 
  exce_depend 以前对应的是 run_depend 现在非法
  -->

CMakeLists.txt编辑 srv 相关配置

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
# 需要加入 message_generation,必须有 std_msgs

add_service_files(
  FILES
  ServiceMsg.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES example_ros_service
  CATKIN_DEPENDS roscpp std_msgs
#  DEPENDS system_lib
)

3.编译

编译后的中间文件查看:

C++ 需要调用的中间文件(…/工作空间/devel/include/包名/xxx.h)

4.使用

(1) 服务端代码 example_ros_service.cpp

#include "ros/ros.h"
#include "example_ros_service/ServiceMsg.h"
#include "iostream"
#include "string.h"


bool callBack( example_ros_service::ServiceMsg::Request &req, example_ros_service::ServiceMsg::Response &res){
    ROS_INFO("callBack activated");

    std::string in_name(req.name);
    res.on_the_list = false;

    if (in_name.compare("hao"))
    {
        ROS_INFO("ask about hao");
        res.age = 24;
        res.good_guy = true;
        res.nickname = "shahao";
        res.on_the_list = true;
    }

    if (in_name.compare("kai"))
    {
        ROS_INFO("ask about kai");
        res.age = 24;
        res.good_guy = false;
        res.nickname = "peizhu";
        res.on_the_list = true;
    }
    
    return true;
}

int main(int argc, char  *argv[])
{
    ros::init(argc, argv, "example_ros_service");
    ros::NodeHandle nh;

    ros::ServiceServer service = nh.advertiseService("lookup_by_name",callBack);
    ROS_INFO("ready to look up names.");
    ros::spin();
    /* code */
    return 0;
}

(2) CMakeists.txt配置文件并编译执行

add_executable(example_ros_service src/example_ros_service.cpp)

add_dependencies(example_ros_service ${PROJECT_NAME}_gencpp)

target_link_libraries(example_ros_service
  ${catkin_LIBRARIES}
)

roscore #启动核心
###
source ./devel/setup.bash 
rosrun example_ros_service example_ros_service #启动节点

(3) 客户端的指令

rosservice call /look_by_name 'hao'

(4) 客户端响应结果

或编写客户端代码

example_ros_client.cpp 的代码如下：

#include "ros/ros.h"
#include "string.h"
#include "example_ros_service/ServiceMsg.h"

int main(int argc, char  *argv[])
{
    ros::init(argc, argv, "example_ros_client");
    ros::NodeHandle nh;

    ros::ServiceClient client = nh.serviceClient<example_ros_service::ServiceMsg>("lookup_by_name");

    example_ros_service::ServiceMsg srv;
    std::string in_name;
	
	//循环发起请求	
    while (ros::ok())
    {
        std::cout << std::endl << "enter a name(x to quit)" << std::endl;  
        std::cin >> in_name;
        if(in_name.compare("x") == 0){
            return 0;
        }

        srv.request.name = in_name;
        if (client.call(srv)){
            if (srv.response.on_the_list){
                std::cout << srv.request.name << "is known as " << srv.response.nickname << std::endl;
                std::cout << "he is " << srv.response.age << "years old" << std::endl;
                if (srv.response.good_guy){
                    std::cout << "he is reported to be a good guy" << std::endl;
                }else{
                    std::cout << "avoid him : he is not a good guy" << std::endl;
                }
                
            }else{
                std::cout << srv.request.name << "is not in my database" << std::endl;
            }
            
        }else{
            ROS_INFO("failed to call service lookup_bu_name");
            return 1;
        }
        
    }
    
    return 0;
}