【ROS学习-11】用C++编写一个简单的服务端和客户端
1.首先执行roscd
beginner_tutorials命令，然后创建src/add_two_ints_server.cpp服务端源码，内容如下：
#include
"ros/ros.h"
#include
"beginner_tutorials/AddTwoInts.h"
bool
add(beginner_tutorials::AddTwoInts::Request &req,
beginner_tutorials::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;
}
2.接下来创建src/add_two_ints_client.cpp客户端程序，源码如下：
#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;
ros::ServiceClient
client =
n.serviceClient<beginner_tutorials::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;
}
3.接下来修改CMakeLists.txt文件，在文件尾部添加如下内容：
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)
4.编译运行
cd
~/ros/catkin_ws
catkin_make
执行如下命令运行服务端：
rosrun
beginner_tutorials add_two_ints_server
执行后会有如下提示：
[
INFO] [1497789377.150363403]: Ready to add two ints.
接下来执行客户端：
rosrun
beginner_tutorials add_two_ints_client 1 3
会有如下提示：
[
INFO] [1497789453.191450800]: Sum: 4
而刚才服务端会有如下提示：
[
INFO] [1497789453.191038638]: request: x=1, y=3
[
INFO] [1497789453.191116375]: sending back response: [4]
5.参考网址
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