一、目的
通过程序,发布服务请求。
即通过客户端的请求,发给服务端产生一个海龟,反馈回客户端。
二、创建功能包
回到catkin_ws/src
文件夹下,创建一个名为learning_service
的功能包
cd ~/catkin_ws/srccatkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
三、创建客户端代码
在~/catkin_ws/src/learning_service/src
目录下创建一个turtle_spawn.cpp
的文件,其内容为:
/*** 该例程将请求/spawn服务,服务数据类型turtlesim::SpawnREFERENC:.*/#include <ros/ros.h>#include <turtlesim/Spawn.h>int main(int argc, char** argv){// 初始化ROS节点ros::init(argc, argv, "turtle_spawn");// 创建节点句柄ros::NodeHandle node;// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的serviceros::service::waitForService("/spawn");ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");// 初始化turtlesim::Spawn的请求数据turtlesim::Spawn srv;srv.request.x = 2.0;srv.request.y = 2.0;srv.request.name = "turtle2";// 请求服务调用ROS_INFO("Call service to spawn turtle[x:%0.6f, y:%0.6f, name:%s]", srv.request.x, srv.request.y, srv.request.name.c_str());add_turtle.call(srv);// 显示服务调用结果ROS_INFO("Spawn turtle successfully [name:%s]", srv.response.name.c_str());return 0;};
代码👆的实现过程如下:
初始化ROS节点创建一个Client实例发布服务请求数据等待Server处理之后的应答结果
四、配置客户端代码编译规则
打开learning_service
中的CMakeLists.txt
,在图示区域添加代码
add_executable(turtle_spawn src/turtle_spawn.cpp)target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
add_executable添加编译规则,target_link_libraries链接一些需要的库
五、编译与运行
进行编译
cd ~/catkin_wscatkin_make
运行客户端,可以看到产生了第二个小海龟
source devel/setup.bashroscorerosrun turtlesim turtlesim_noderosrun learning_service turtle_spawn
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