【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; ...