文章目录
一、命令行使用现有的服务
(1)查询当前服务有哪些?
(base) z@E580:~/catkin_ws$ rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
(2)命令行调用服务
(base) z@E580:~/catkin_ws$ rosservice call /spawn "x: 8.0
y: 9.0
theta: 0.0
name: 'turtle2'"
name: "turtle2"
二、客户端使用现有的服务
第13讲:客户端Client编程实现
1、ROS服务通信基础模型
基础概念:
Server :节点turtlesim
Client:节点trurtle_spawn
Request:Client->Server
Response: Server->Client
服务名:/spawn
服务消息类型:turtlesim::Spawn
2、ROS客户端编程
(1)创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
(2)客户端代码
- ROS节点初始化
- 搜索服务,向ROS MASTER注册连接服务
- 请求服务
#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.name = "turtle2";
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.theta =45.0;
// 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;
};
(3)客户端编译规则
- 添加代码生成可执行文件
- 设置链接库
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
三、构建简易的服务器
第14讲:服务端Server编程实现
1、ROS服务器编程
- 回调函数:改变主函数服务开启判断位,设置服务反馈消息
bool commandCallback(std_srvs::Trigger::Request &req,
std_srvs::Trigger::Response &res)
- 初始化节点
- 向主节点注册,服务名称和回调函数。回调函数设置任务标志位和回复信息。
- 主函数进行循环的任务处理
#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;
}
四、基于自定义服务数据构建C\S系统
第15讲:服务数据的定义与使用
1、自定义服务数据
1)定义src
string name
uint8 age
uint8 sex
uint8 unknown=0
uint8 male =1
uint8 female=2
---
string result
2)在package.xml中添加功能包依赖项
<build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend>
3)CMakeList.txt
find_package(…… message_generation)
add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(…….message_runtime)
2、C/S代码框架
#include“learning_service/Person.h”
bool personCallback(learning_service::Person::Request &req)
3、配置C/S编译规则
- 设置需要编译的代码和可执行文件名称
- 设置动态链接库
- 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)
第16讲:参数的使用与编程方法
1、参数模型
2、参数命令行使用
1)YAML参数文件:
2)param相关命令: