1.查看service列表的代码:
rosservice list
可以用代码或者终端对列表中的服务进行调用:
rosservice call /服务名称
2.service介绍
client负责发布请求数据等待server处理 ---------------数据
server负责处理相应功能并返回应答数据--------------操作
3.自定义服务数据
在srv文件夹下的.srv文件,其中包括请求和应答的数据,用“- - -”进行分割。
(1)在Package.xml中添加功能包依赖
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
(2)在CMakeLists.txt中添加功能包依赖
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
message_generation
)
add_service_files(
FILES
AddTwoInts.msg
)
4.编写server和client代码
server:
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"
bool add(learning_communication::AddTwoInts::Request &req,
learning_communication::AddTwoInts::Response &res)
{
res.sum = req.a + req.b;
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::NodeHandle n;
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
client:
#include "ros/ros.h"
#include "learning_communication/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;
ros::ServiceClient client = n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
beginner_tutorials::AddTwoInts srv;
srv.request.a = atoll(argv[1]);
srv.request.b = atoll(argv[2]);
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;
}
5.编译功能包
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)
注意:add_executable中的第一个参数为期望生成的可执行文件的而名称,第二个参数为源码文件;target_link_libraries第一个参数与add_executable相同;