创建ROS服务和客户端的一般步骤

1 建立ROS工作空间

新建ROS工作空间文件夹：

mkdir -p catkin_ws/src

其中，catkin_ws为工作空间文件夹名称

2 创建软件包

cd catkin_ws/src
catkin_create_pkg srv_demo std_msgs rospy roscpp

软件包目录结构如下：

3 构建软件包

在工作空间目录下执行catkin_make命令构建软件包：

cd ..
catkin_make

......

可以发现工作空间目录中除了开始建立的src文件夹，还增加了build和devel两个文件夹（各文件夹具体含义及作用详见http://wiki.ros.org/catkin/workspaces）：

4 编写srv文件

cd src/srv_demo
mkdir srv

在srv路径下编写srv文件并保存：

int64 a
int64 b
---
int64 sum

为了使srv文件能被转换为C++等语言的源代码，还需要对package.xml和CMakeLists.txt文件进行修改

修改package.xml文件，添加如下内容

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

修改软件包中的（而非工作空间中的）CMakeLists.txt文件
- 在find_package中加入message_generation依赖项

find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
   message_generation
)

- 添加消息运行时的依赖关系

catkin_package(
  ...
  CATKIN_DEPENDS message_runtime
  ...)

- 在add_service_files中加入srv文件名

add_service_files(
  FILES
  AddTwoInts.srv
)

- 去掉如下代码块的注释

# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

使用rossrv命令查看编写的srv文件能否被ROS识别

source devel/setup.bash
rossrv show srv_demo/AddTwoInts

5 编写及构建服务和客户端节点

在软件包的src目录下编写服务源代码add_two_ints_server.cpp

#include "ros/ros.h"
#include "srv_demo/AddTwoInts.h" // 创建srv文件时生成的头文件

bool add(srv_demo::AddTwoInts::Request  &req,
         srv_demo::AddTwoInts::Response &res) // 提供服务，接受srv文件中的请求（request）和响应（response）类型，并返回一个布尔值
{
  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; // 将两个整数相加，并将结果存储在响应中，然后记录有关请求和响应到日志中。完成后服务返回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); // 创建服务
  ROS_INFO("Ready to add two ints."); // 打印信息
  ros::spin();

  return 0;
}

在软件包的src目录下编写客户端代码add_two_ints_client.cpp

#include "ros/ros.h"
#include "srv_demo/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<srv_demo::AddTwoInts>("add_two_ints"); // 为add_two_ints服务创建一个客户端，ros::ServiceClient对象client用于稍后调用服务
  srv_demo::AddTwoInts srv; // 实例化一个自动生成的服务类，并为其request成员赋值
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  if (client.call(srv)) // 调用服务，服务调用被阻塞，调用完成后返回，且服务调用成功返回true，否则返回false
  {
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

修改软件包的CMakeLists.txt文件，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 srv_demo_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 srv_demo_gencpp)

构建及运行节点
- 在工作空间路径下执行catkin_make构建节点

直至编译完成

- 依次运行roscore、add_two_ints_sever、add_two_ints_client三个节点

roscore

source devel/setup.bash
rosrun srv_demo add_two_ints_sever

source devel/setup.bash
rosrun srv_demo add_two_int_client 1 1

add_two_ints_client节点运行后add_two_ints_sever节点显示

按Ctrl+C可停止各节点运行

附：

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>srv_demo</name>
  <version>0.0.0</version>
  <description>The srv_demo package</description>
  <maintainer email="uu@todo.todo">uu</maintainer>
  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>
  
  <export>
  </export>

</package>

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(srv_demo)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
add_service_files(
  FILES
  AddTwoInts.srv
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES srv_demo
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/srv_demo.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/srv_demo_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_srv_demo.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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 srv_demo_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 srv_demo_gencpp)

posted @ 2021-07-08 10:11 溪嘉嘉阅读(615) 评论(0) 编辑收藏举报

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