1、定义服务
选中srv目录名,右键AddSrvFile,这里定义一个计算字符串单词个数count的服务WordCount.srv,文件内容:
string words
---
uint32 count
同样,添加srv文件需要对CMakeLists.txt、package.xml 进行的修改RoboWare Studio也替我们自动完成了:
CMakeLists.txt主要修改了以下几处:
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
message_generation
roscpp
rospy
std_msgs
)
catkin_package(
CATKIN_DEPENDS
message_runtime
# INCLUDE_DIRS include
# LIBRARIES ros_dev_test
# CATKIN_DEPENDS rospy std_msgs
# DEPENDS system_lib
)
## Generate services in the 'srv' folder
add_service_files(FILES
WordCount.srv
)
## Generate added messages and