ROS21讲学习笔记——P15

【古月居】古月·ROS入门21讲 | 一学就会的ROS机器人入门教程_哔哩哔哩_bilibili还原最好的ROS入门体验，起航机器人开发之路！ROS入门21讲升级版加入课后考试、定制证书及新增彩蛋2讲，点击“古月居”微信公众号菜单栏 —“古月学院”即可报名；课件、源码下载方式：关注“古月居”微信公众号，回复“ROS入门21讲”获取，古月居网站新增泡泡版块，在这里我会和大家进行课程答疑，交流讨论。https://www.guyuehome.com/bubble/indexhttps://www.bilibili.com/video/BV1zt411G7Vn?p=15本讲要实现客户端的请求以及服务器的应答。通过传输个人信息来验证。

首先要自定义服务类型。新建srv目录，并在目录中创建Person.srv文件，在Person.srv输入以下代码。三条线---上面是客户端发送的数据，下面是服务器发送的数据。

string name
uint8 age
uint8 sex

uint8 unknown = 0
uint8 male = 1
uint8 female = 2
---
string result

在package.xml中添加功能包依赖

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

在CMakeLists.txt添加编译选项

find_package( …… message_generation)

add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)

catkin_package(…… message_runtime)

服务器代码

#include <ros/ros.h>
#include "learning_service/Person.h"

bool personCallback(learning_service::Person::Request &req,
					learning_service::Person::Response &res)
{
	ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex);
	
	res.result = "OK";
	
	return true;
}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "person_server");
	
	ros::NodeHandle n;
	
	ros::ServiceServer person_service = n.advertiseService("/show_person", personCallback);
	
	ROS_INFO("Ready to show person information.");
	
    //等待请求
    ros::spin();
	
	return 0;
}

客户端代码

#include <ros/ros.h>
#include "learning_service/Person.h"

int main(int argc, char **argv)
{
	ros::init(argc, argv, "person_client");
	
	ros::NodeHandle node;
	
	ros::service::waitForService("/show_person");
	ros::ServiceClient person_client = node.serviceClient<learning_service::Person>("/show_person");
	
	learning_service::Person srv;
	srv.request.name = "Tom";
	srv.request.age = 20;
	srv.request.sex = learning_service::Person::Request::male;
	
	ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]", srv.request.name.c_str(), srv.request.age, srv.request.sex);
	
    //请求服务
	person_client.call(srv);
	
    //显示服务响应
	ROS_INFO("Show person result : %s", srv.response.result.c_str());
		
	return 0;
}

在CMakeLists.txt中配置编译规则：设置需要编译的代码，设置链接库，添加依赖项。

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

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

 在终端编译，运行节点

$ catkin_make

$ roscore

$ rosrun learning_service person_server

$ rosrun learning_service person_client

 结果如下

服务器

jw@Z8:~$ rosrun learning_service person_server
[ INFO] [1646032130.918381452]: Ready to show person information.  //一
[ INFO] [1646032151.670209322]: Person: name:Tom age:20 sex:1      //二

客户端

jw@Z8:~$ rosrun learning_service person_client
[ INFO] [1646032151.668985333]: Call service to show person[name:Tom, age:20, sex:1]    //三
[ INFO] [1646032151.670383735]: Show person result : OK    //四

显示顺序 一 三 二 四

先启动服务器，在ros::spin()处等待请求。

然后启动客户端，请求服务，发送个人信息。服务器进入回调函数，输出个人信息并把OK作为响应结果传回客户端。