ROS Noetic入门笔记（十）使用Python编写简单的Server与Client

ROS Noetic入门笔记（一）在ubuntu20.04中安装ROS Noetic并简单测试
ROS Noetic入门笔记（二）ROS Noetic创建工作空间和功能包
ROS Noetic入门笔记（三）ROS Noetic中的常用命令及工具
ROS Noetic入门笔记（四）使用rqt_console和roslaunch
ROS Noetic入门笔记（五）创建ROS话题消息（msg）和服务数据（srv
ROS Noetic入门笔记（六）使用C++编写简单的Publisher与Suscriber
ROS Noetic入门笔记（七）使用Python编写简单的Publisher与Suscriber
ROS Noetic入门笔记（八）运行Publisher与Suscriber
ROS Noetic入门笔记（九）使用C++编写简单的Server与Client
ROS Noetic入门笔记（十）使用Python编写简单的Server与Client
ROS Noetic入门笔记（十一）使用rosbag实现数据记录与回放

1.使用roscd跳转到beginner_tutorials功能包目录

先设置环境变量

$ cd ~/catkin_ws
$ source ./devel/setup.bash

然后roscd到beginner_tutorials功能包

$ roscd beginner_tutorials

2.创建Server

(1) 在scripts目录下新建add_two_ints_server.py文件并粘贴以下代码

#!/usr/bin/env python

from __future__ import print_function

from beginner_tutorials.srv import AddTwoInts,AddTwoIntsResponse
import rospy

def handle_add_two_ints(req):
    print("Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b)))
    return AddTwoIntsResponse(req.a + req.b)

def add_two_ints_server():
    rospy.init_node('add_two_ints_server')
    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
    print("Ready to add two ints.")
    rospy.spin()

if __name__ == "__main__":
    add_two_ints_server()

(2) 给add_two_ints_server.py可执行权限

$ chmod +x add_two_ints_server.py

3.创建Client

(1) 在scripts目录下新建add_two_ints_client.py文件并粘贴以下代码

#!/usr/bin/env python

from __future__ import print_function

import sys
import rospy
from beginner_tutorials.srv import *

def add_two_ints_client(x, y):
    rospy.wait_for_service('add_two_ints')
    try:
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
        resp1 = add_two_ints(x, y)
        return resp1.sum
    except rospy.ServiceException as e:
        print("Service call failed: %s"%e)

def usage():
    return "%s [x y]"%sys.argv[0]

if __name__ == "__main__":
    if len(sys.argv) == 3:
        x = int(sys.argv[1])
        y = int(sys.argv[2])
    else:
        print(usage())
        sys.exit(1)
    print("Requesting %s+%s"%(x, y))
    print("%s + %s = %s"%(x, y, add_two_ints_client(x, y)))

(2) 给add_two_ints_client.py可执行权限

$ chmod +x add_two_ints_server.py

4.运行Server与Client

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