1.编写Service节点
先进入到beginner_tutoials包中:
cd catkin_ws/src/beginner_tutorials
展开后续的工作之前,要保证创建亮AddTwoInts.srv文件。
(1)代码
进入到beginner_tutorials包中的src文件中,并创建打开server文件:
cd src
gedit add_two_ints_server.cpp
复制以下代码:
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h" //
//这个函数提供两个int值求和的服务,int值从request里面获取,而返回数据装入response内,这些数据类型都定义在srv文件内部,函数返回一个boolean值。
bool add(beginner_tutorials::AddTwoInts::Request &req,
beginner_tutorials::AddTwoInts::Response &res)
{
res.sum = req.a + req.b; //两个int变量相加
ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
ROS_INFO("sending back response: [%ld]", (long int)res.sum);
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_server");//ros初始化
ros::NodeHandle n;//定义句柄
//service建立起来,并在ros内发布
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
2.编写Client节点
同样在src中创建client文件
gedit add_two_ints_client.cpp
复制以下代码:
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_client");
if (argc != 3)
{
ROS_INFO("usage: add_two_ints_client X Y");
return 1;
}
ros::NodeHandle n;
//为add_two_ints_service创建一个client
ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
//实例化一个由ROS编译系统自动生成的service类,并给其request成员赋值一个service类包含两个成员request和response。同时也包括两个类定义Request和Response。
beginner_tutorials::AddTwoInts srv;
srv.request.a = atoll(argv[1]);
srv.request.b = atoll(argv[2]);
//调用srevice,如果service调用成功,call()函数将返回true,srv.response里面的值将是合法的值。如果调用失败,call()函数将返回false,srv.response里面的值将是非法的。
if (client.call(srv))
{
ROS_INFO("Sum: %ld", (long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service add_two_ints");
return 1;
}
return 0;
}
3.编译节点
修改beginner_tutorials文件下的CMakeLists.txt文件,在最后面添加以下内容
add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)
add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)
最后在运行下catkin_make命令:
cd ~/catkin_ws
catkin_make
4.测试Server和Client
先打开一个终端
roscore
在开一个终端
$ cd catkin_ws
$ source ./devel/setup.bash
$ rosrun beginner_tutorials add_two_ints_server
就会出现
[ INFO] [1561553310.383340278]: Ready to add two ints.
再打开一个新的终端
$ cd catkin_ws
$ source ./devel/setup.bash
$ rosrun beginner_tutorials add_two_ints_client 2 5
这里客户端处给了两个参数,2和5 。两处的结果为:
服务器端:
[ INFO] [1561553392.452951558]: Sum: 7
客户端:
[ INFO] [1561553849.969845873]: request: x=2, y=5
[ INFO] [1561553849.969870262]: sending back response: [7]
参考文献:http://wiki.ros.org/cn/ROS/Tutorials/WritingServiceClient%28c%2B%2B%29