客户端Client
创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
步骤以及代码
- 初始化ROS节点
- 创建一个Client实例
- 发布服务请求数据
- 等待Server处理数据之后的回应结果
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/spawn服务,服务数据类型turtlesim::Spawn
*/
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "turtle_spawn");
// 创建节点句柄
ros::NodeHandle node;
// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
// 初始化turtlesim::Spawn的请求数据
turtlesim::Spawn srv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2";
// 请求服务调用
ROS_INFO("Call service to spwan turtle[x:%0.6f, y:%0.6f, name:%s]",
srv.request.x, srv.request.y, srv.request.name.c_str());
add_turtle.call(srv);
// 显示服务调用结果
ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
};
ROS_INFO用法
和printf用法基本相同,但ROS_INFO具有时间戳功能,总共包含五个记录等级
ROS_INFO不能直接输出std::string,要转换成c_str
配置CMakeLists编译规则
编译
文件根目录catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_spawn
服务端Server
步骤以及代码
- 初始化ROS节点
- 创建Server实例
- 循环等待服务请求,进入回调函数
- 在回调函数中完成服务功能的处理,并反馈回应数据
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将执行/turtle_command服务,服务数据类型std_srvs/Trigger
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_srvs/Trigger.h>
ros::Publisher turtle_vel_pub;
bool pubCommand = false;
// service回调函数,输入参数req,输出参数res
bool commandCallback(std_srvs::Trigger::Request &req,
std_srvs::Trigger::Response &res)
{
pubCommand = !pubCommand;
// 显示请求数据
ROS_INFO("Publish turtle velocity command [%s]", pubCommand==true?"Yes":"No");
// 设置反馈数据
res.success = true;
res.message = "Change turtle command state!";
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "turtle_command_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为/turtle_command的server,注册回调函数commandCallback
ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback);
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 循环等待回调函数
ROS_INFO("Ready to receive turtle command.");
// 设置循环的频率
ros::Rate loop_rate(10);
while(ros::ok())
{
// 查看一次回调函数队列
ros::spinOnce();
// 如果标志为true,则发布速度指令
if(pubCommand)
{
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
turtle_vel_pub.publish(vel_msg);
}
//按照循环频率延时
loop_rate.sleep();
}
return 0;
}
std_srvs::Trigger是服务数据类型,包含在std_srvs/Trigger.h头文件中
用命令行查看trigger的定义rossrv show std_srvs/Trigger
配置CMakeLists
add_executable(turtle_command_server src/turtle_command_server.cpp)
target_link_libraries(turtle_command_server ${catkin_LIBRARIES})
编译
文件根目录catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_command_server
rosservice call /turtle_command