創建Persom.srv

新建srv文件夾

在srv文件夾中創建Persom.srv，編輯文件

string name uint8 age uint8 sexuint8 unknown = 0 uint8 male = 1 uint8 female = 2--- string result

修改package,xml

add_service_files(FILESPerson.srv )generate_messages(DEPENDENCIESstd_msgs )

修改cmake

find_package(catkin REQUIRED COMPONENTSgeometry_msgsroscpprospystd_msgsturtlesimmessage_generation #查找依賴 )add_service_files(FILESPerson.srv )generate_messages(DEPENDENCIESstd_msgs )catkin_package( # INCLUDE_DIRS include # LIBRARIES learning_serviceCATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime # DEPENDS system_lib )

編譯

catkin_make

編輯person_client.cpp

?

/*** 該例程將請求/show_person服務，服務數據類型learning_service::Person*/#include <ros/ros.h> #include "learning_service/Person.h"int main(int argc, char** argv) {// 初始化ROS節點ros::init(argc, argv, "person_client");// 創建節點句柄ros::NodeHandle node;// 發現/spawn服務后，創建一個服務客戶端，連接名為/spawn的serviceros::service::waitForService("/show_person");ros::ServiceClient person_client = node.serviceClient<learning_service::Person>("/show_person");// 初始化learning_service::Person的請求數據learning_service::Person srv;srv.request.name = "Tom";srv.request.age = 20;srv.request.sex = learning_service::Person::Request::male;// 請求服務調用ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]", srv.request.name.c_str(), srv.request.age, srv.request.sex);person_client.call(srv);// 顯示服務調用結果ROS_INFO("Show person result : %s", srv.response.result.c_str());return 0; };

?

編輯person_server.cpp

/*** 該例程將執行/show_person服務，服務數據類型learning_service::Person*/#include <ros/ros.h> #include "learning_service/Person.h"// service回調函數，輸入參數req，輸出參數res bool personCallback(learning_service::Person::Request &req,learning_service::Person::Response &res) {// 顯示請求數據ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex);// 設置反饋數據res.result = "OK";return true; }int main(int argc, char **argv) {// ROS節點初始化ros::init(argc, argv, "person_server");// 創建節點句柄ros::NodeHandle n;// 創建一個名為/show_person的server，注冊回調函數personCallbackros::ServiceServer person_service = n.advertiseService("/show_person", personCallback);// 循環等待回調函數ROS_INFO("Ready to show person informtion.");ros::spin();return 0; }

修改cmake

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)

編譯：

catkin_make

運行：

rosrun service_example person_client

rosrun service_example person_server

總結

以上是生活随笔為你收集整理的ros(7)自定义service数据的全部內容，希望文章能夠幫你解決所遇到的問題。

如果覺得生活随笔網站內容還不錯，歡迎將生活随笔推薦給好友。