ROS-客户端，服务端

add_two_ints_server

#include "ros/ros.h"
#include "bingda_practices/AddTwoInts.h"


bool add(bingda_practices::AddTwoInts::Request &req,
         bingda_practices::AddTwoInts::Response &res)//&req,&res均为client里的srv
         {
                 res.sum = req.a + req.b;
                 ROS_INFO("request: x=%ld, y=%ld",(long int)req.a, (long int)req.b);
                 ROS_INFO("sending back response: [%ld]",(long int)res.sum);
                 return true;

         }

int main(int argc, char **argv)
{
        ros::init(argc, argv, "add_two_ints_server");
        ros::NodeHandle n;

        ros::ServiceServer service = n.advertiseService("add_two_ints", add);
        ROS_INFO("Ready to add two ints.");
        ros::spin();
        return 0;

}

add_two_ints_client

#include "ros/ros.h"
#include "bingda_practices/AddTwoInts.h"//srv文件头文件

int main(int argc, char **argv)
{
        ros::init(argc, argv, "add_two_ints_client");
        if (argc != 3)//3的原因：x,y，并+1
        {
                ROS_INFO("usage: add_two_ints_client X Y");
                return 1;
        }
        ros::NodeHandle n;
        ros::ServiceClient client = n.serviceClient<bingda_practices::AddTwoInts>("add_two_ints");
        bingda_practices::AddTwoInts srv;
        srv.request.a = atoll(argv[1]);//atoll参数类型转换
        srv.request.b = atoll(argv[2]);
        if (client.call(srv))
        {
                ROS_INFO("Sum: %ld", (long int)srv.response.sum);
        }
        else{
                ROS_ERROR("Failed to call service add_two_ints");
                return 1;
        }
        return 0;
        

}