ROS小练习——服务调用

目录

一、服务名称与消息的获取

二、代码案例

1、C++

2、python 

三、编译运行

1、配置cmakelist

2、运行

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一、服务名称与消息的获取

rosservice list

 

 

rosservice type /spawn

 

 

rossrv info turtlesim/Spawn

 

二、代码案例

1、C++

//包含头文件
#include "ros/ros.h"
#include "turtlesim/Spawn.h"

int main(int argc, char *argv[])
{
    //初始化 ros 节点
    ros::init(argc,argv,"set_turtle");
    //创建 ros 句柄
    ros::NodeHandle nh;
    //创建 service 客户端
    ros::ServiceClient client = nh.serviceClient<turtlesim::Spawn>("/spawn");
    //等待服务启动
    ros::service::waitForService("/spawn");

    //发送请求
    turtlesim::Spawn spawn;
    spawn.request.x = 1.0;
    spawn.request.y = 1.0;
    spawn.request.theta = 1.57;
    spawn.request.name = "my_turtle";
    bool flag = client.call(spawn);

    if (flag)
    {
        ROS_INFO("%s",spawn.response.name.c_str());
    } else {
        ROS_INFO("error");
    }

    return 0;
}

2、python 

#! /usr/bin/env python
# -*- coding:UTF-8 -*-

#导包
import rospy
from turtlesim.srv import Spawn,SpawnRequest,SpawnResponse

if __name__ == "__main__":
    #初始化 ros 节点
    rospy.init_node("set_turtle_p")
    #创建 service 客户端
    client = rospy.ServiceProxy("/spawn",Spawn)
    # 4.等待服务启动
    client.wait_for_service()
    # 5.发送请求
    req = SpawnRequest()
    req.x = 2.0
    req.y = 2.0
    req.theta = -1.57
    req.name = "my_turtle_p"
    try:
        response = client.call(req)
        # 6.处理响应
        rospy.loginfo("%s",response.name)
    except Exception as identifier:
        rospy.loginfo("error")

三、编译运行

1、配置cmakelist

 

2、运行