ROS实践7：自定义client实现

1.首先创建一个定义服务数据类型的SRV文件，learning_communication/srv/AddTwoInts.srv;

2.在package.xml中添加依赖配置：

<build_depend>message_generation</build_depend>

<rosrun_depend>message_runtime</rosrun_depend>

在CMakelist.txt中添加以下配置：

find_package(catkin REQUIRED COMPONENTS

roscpp

rospy

std_msgs

geometry_msgs

message_generation

)

add_service_files(

FILES

AddTwoInts.srv

)

3.创建client节点，代码client.cpp如下:

#include <cstdlib>

#include "ros/ros.h"

#include "learning_communication/AddTwoInts.h"

int main(int argc,char **argv)

{

//ROS节点初始化

ros::init(argc,argv,"add_two_ints_client");

//从终端命令行获取两个加数

if(argc !=3)

{

ROS_INFO("usage:add_two_ints_client X Y");

return 1;

}

//创建节点句柄

ros::NodeHandle n;

//创建一个client，请求add_two_int service

//service消息类型是learning_communication::AddTwoInts

ros::ServiceClient client = n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");

//创建learning——commmunication的service消息

learning_communication::AddTwoInts srv;

srv.request.a = atoll(argv[1]);

srv.request.b = atoll(argv[2]);

//发布service请求，等待加法运算的应答结果

if(client.call(srv))

{

ROS_INFO("Sum:%ld", (long int)srv.response.sum);

}

else{

ROS_INFO("Failed to call service add_two_ints");

return 1;

}

return 0;

}

4.编译功能包catkin_make

add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependencies(server ${PROJECT_NAME}_gencpp)

add_executable(client src/listen.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependencies(client ${PROJECT_NAME}_gencpp)

5.运行Client

roscore

rosrun learning_communication client 3 5