简介
编写代码控制spawn,实现添加小海龟操作
C++
1.代码
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
//初始化节点
ros::init(argc, argv, "turtle_spawn");
//创建节点句柄
ros::NodeHandle n;
//发现/spawm服务后,创建一个服务客户端,连接名为/spawn的service
//如果没有找到服务就会一直等待
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle = n.serviceClient<turtlesim::Spawn>("/spawn");
//初始化请求数据
turtlesim::Spawn srv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2";
//请求服务调用
ROS_INFO("Call service to spawn turtle[x: %0.6f, y:%0.6f, name:%s]", srv.request.x, srv.request.y, srv.request.name.c_str());
add_turtle.call(srv);//调用服务,进程处于阻塞状态,直到接受到反馈
//显示服务结果
ROS_INFO("Spawn turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
}
2.在CMakeLists中添加编译依赖
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
注意
catkin_LIBRARIES
是前小写后大写
3.编译
回到工作目录
catkin_make
4.修改环境变量
source src/setup.bash
5.执行
rosrun learning_service turtle_spawn
Python
1.代码
#!/usr/bin/env python3
#-*- coding:utf-8 -*-
import sys
import rospy
from turtlesim.srv import Spawn
def turtle_spawn():
#初始化节点
rospy.init_node('turtle_spawn')
rospy.wait_for_service('/spawn')
add_turtle = rospy.ServiceProxy('/spawn', Spawn)
response = add_turtle(2.0, 2.0, 0.0, 'turtle2')
return response.name
if __name__ == '__main__':
print ('Spawn turtle successfully [name:%s]',turtle_spawn())
2.编译
catkin_make
3. 设置环境变量
source devel/setup.bash
4. 运行
rosrun turtlesim turtlesim_node
总结
- 初始化节点(名字)
- 创建一个Client实例
- 在找到service时,发布请求数据
- 等待service处理之后的应答结构
有2处进程阻塞
1.寻找service
2.等待service的反馈