ROS2入门之服务
创建用于通信的公共协议包
创建protocol包
cd src/
ros2 pkg create protocol --build-type ament_cmake --dependencies rosidl_default_generators
创建msg和srv目录用于保存自定义的消息和服务定义
命名时注意要符合该正则表达式
创建HelloWorld.msg
string data
创建AddTwoInts.srv
int64 a
int64 b
---
int64 sum
CMakeLists.txt
cmake_minimum_required(VERSION 3.8)
project(protocol)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/HelloWorld.msg"
"srv/AddTwoInts.srv"
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_dependencies(rosidl_default_runtime)
ament_package()
package.xml
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>protocol</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="wenqi.sun@narwal.com">root</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rosidl_default_generators</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
执行编译
cd ..
colcon build
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