ROS 學(xué)習(xí)筆記（三）：自定義服務(wù)數(shù)據(jù)srv+Server+Client 示例運(yùn)行

一、自定義服務(wù)數(shù)據(jù)：

1.向功能包添加自定義服務(wù)文件(AddTwoInts.srv)

cd ~/catkin_ws/src/mypackage mkdir srv cd srv

2.生成并編輯自定義服務(wù)文件：

gedit AddTwoInts.srv

添加內(nèi)容:

int64 a int64 b --- int64 sum

３.修改添加~/catkin_ws/src/mypackage/package.xml 文件中內(nèi)容

...<build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend> ...

４.修改添加~/catkin_ws/src/mypackage/CMakeList.txt 文件中內(nèi)容
(message_generation　同時(shí)針對(duì)話題消息和服務(wù)消息類型描述文件生成相應(yīng)的代碼)

// 添加生成依賴的功能包 find_package(catkin REQUIRED COMPONENTS ... message_generation )// 添加需要編譯的.srv文件 add_service_files(FILESAddTwoInts.srv )

5.編譯后查看服務(wù).srv

cd ~/catkin_ws rosservice list

注意：對(duì)于AddTwoInts.h 是 AddTwoInts.srv文件在編譯后自動(dòng)生成的

二、Server+Client 示例：

1，~/catkin_ws/mypackage/src 目錄中，編寫倆個(gè)源文件server.cpp和client.cpp
(編譯器編寫或文本編寫)

server.cpp 源碼：

#include "ros/ros.h" #include "mypackage/AddTwoInts.h"//　回調(diào)函數(shù)部分(實(shí)現(xiàn)服務(wù)功能) bool add(mypackage::AddTwoInts::Request &req,mypackage::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節(jié)點(diǎn)初始化ros::init(argc, argv, "add_two_ints_server");//　創(chuàng)建節(jié)點(diǎn)句柄 ros::NodeHandle nh;//　創(chuàng)建名為　"add_two_ints"　server 實(shí)例示例：ros::ServiceServer service = nh.advertiseService("add_two_ints", add);ROS_INFO("Ready to add two ints!");ros::spin();return 0; }

client.cpp 源碼：

#include "ros/ros.h" #include "mypackage/AddTwoInts.h" #include <cstdlib>int main(int argc, char **argv) {//　ＲＯＳ節(jié)點(diǎn)初始化ros::init(argc, argv, "add_two_ints_client");// 終端獲取兩個(gè)數(shù)if (argc != 3){ROS_INFO("usage: rosrun package_name executable_name arguments");return 1;}//　創(chuàng)建節(jié)點(diǎn)句柄ros::NodeHandle nh;//　創(chuàng)建一個(gè)client，請(qǐng)求　"add_two_ints"　service :ros::ServiceClient client = nh.serviceClient<mypackage::AddTwoInts>("add_two_ints");mypackage::AddTwoInts srv;srv.request.a = atol(argv[1]);srv.request.b = atol(argv[2]);//　發(fā)布service　請(qǐng)求，等待應(yīng)答if (client.call(srv)){ROS_INFO("with the given [%ld] and [%ld],the sum is: [%ld]", srv.request.a, srv.request.b, (long int)srv.response.sum);}else{ROS_ERROR("Failed to call service: add_two_ints");return 1;}return 0; }

2 編譯功能包源碼（catkin_make方式編譯）
打開 CMakeList.txt 文件：
1)設(shè)置頭文件相對(duì)位置，默認(rèn)為功能包的所在目錄
2)生成可執(zhí)行文件 talker 和 listener
3)設(shè)置鏈接庫(kù)（系統(tǒng)或第三方庫(kù)函數(shù)）此處并沒有使用其他庫(kù)
4)設(shè)置依賴
5) 生成server和client 兩個(gè)可執(zhí)行文件于 ~/catkin_ws/devel/lib/mypackage 中

CMakeList.txt 添加修改代碼如下：

include_directories(include ${catkin_INCLUDE_DIRS})add_executable(server src/server.cpp) add_dependencies(server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) target_link_libraries(server ${catkin_LIBRARIES})add_executable(client src/client.cpp) add_dependencies(client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) target_link_libraries(client ${catkin_LIBRARIES})

3.終端工作空間根目錄 ~/catkin_ws 開始編譯

cd ~/catkin_ws catkin_make source devel/setup.bash // 已在于終端環(huán)境變量文件中設(shè)置的無(wú)需重新設(shè)置

三、直接運(yùn)行 server client

1.新建終端，運(yùn)行ros master

cd ~/catkin_ws roscore

2.新建終端，運(yùn)行服務(wù)器節(jié)點(diǎn) server

rosrun mypackage server

3.新建終端，運(yùn)行客戶端節(jié)點(diǎn) client

rosrun mypackage client 100 222

4.結(jié)果顯示：

[INFO] [146235634.23453542]:with the given [100] and [222],the sum is: [322]

四、創(chuàng)建launch啟動(dòng)文件運(yùn)行

1.創(chuàng)建launch文件夾，創(chuàng)建啟動(dòng)文件 mypackage.launch

cd catkin_ws/src/mypackage/ mkdir launch cd launch/ touch mypackage.launch

mypackage.launch文件內(nèi)容，設(shè)置同時(shí)啟動(dòng)服務(wù)節(jié)點(diǎn)：

<launch><node pkg="mypackage" type="server" name="add_two_ints_server" output="screen"/> </launch>

2.運(yùn)行l(wèi)aunch文件并查看消息（默認(rèn)會(huì)運(yùn)行roscore）

roslaunch mypackage mypackage.launch

3.新建終端，運(yùn)行client 執(zhí)行文件輸入兩個(gè)整型參數(shù)：

rosrun mypackage client 100 100

4.結(jié)果顯示：

[INFO] [146235634.23453542]:with the given [100] and [100],the sum is: [200]

總結(jié)

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