清远市建设局网站,wordpress后台密码,ps广告设计步骤,购物建设网站ROS 学习笔记#xff08;三#xff09;#xff1a;自定义服务数据srvServerClient 示例运行
一、自定义服务数据#xff1a;
1.向功能包添加自定义服务文件(AddTwoInts.srv)
cd ~/catkin_ws/src/mypackage
mkdir srv
cd srv2.生成并编辑自定义服务文件#xff1a;
ge…ROS 学习笔记三自定义服务数据srvServerClient 示例运行
一、自定义服务数据
1.向功能包添加自定义服务文件(AddTwoInts.srv)
cd ~/catkin_ws/src/mypackage
mkdir srv
cd srv2.生成并编辑自定义服务文件
gedit AddTwoInts.srv添加内容:
int64 a
int64 b
---
int64 sum.修改添加~/catkin_ws/src/mypackage/package.xml 文件中内容
...build_dependmessage_generation/build_dependexec_dependmessage_runtime/exec_depend
....修改添加~/catkin_ws/src/mypackage/CMakeList.txt 文件中内容 (message_generation 同时针对话题消息和服务消息类型描述文件生成相应的代码)
// 添加生成依赖的功能包
find_package(catkin REQUIRED COMPONENTS
...
message_generation
)// 添加需要编译的.srv文件
add_service_files(FILESAddTwoInts.srv
)5.编译后查看服务.srv
cd ~/catkin_ws
rosservice list注意对于AddTwoInts.h 是 AddTwoInts.srv文件在编译后自动生成的
二、ServerClient 示例
1~/catkin_ws/mypackage/src 目录中编写俩个源文件server.cpp和client.cpp (编译器编写或文本编写)
server.cpp 源码
#include ros/ros.h
#include mypackage/AddTwoInts.h// 回调函数部分(实现服务功能)
bool add(mypackage::AddTwoInts::Request req,mypackage::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)
{// 节点初始化ros::init(argc, argv, add_two_ints_server);// 创建节点句柄 ros::NodeHandle nh;// 创建名为 add_two_ints server 实例示例ros::ServiceServer service nh.advertiseService(add_two_ints, add);ROS_INFO(Ready to add two ints!);ros::spin();return 0;
}client.cpp 源码
#include ros/ros.h
#include mypackage/AddTwoInts.h
#include cstdlibint main(int argc, char **argv)
{// 节点初始化ros::init(argc, argv, add_two_ints_client);// 终端获取两个数if (argc ! 3){ROS_INFO(usage: rosrun package_name executable_name arguments);return 1;}// 创建节点句柄ros::NodeHandle nh;// 创建一个client请求 add_two_ints service :ros::ServiceClient client nh.serviceClientmypackage::AddTwoInts(add_two_ints);mypackage::AddTwoInts srv;srv.request.a atol(argv[1]);srv.request.b atol(argv[2]);// 发布service 请求等待应答if (client.call(srv)){ROS_INFO(with the given [%ld] and [%ld],the sum is: [%ld], srv.request.a, srv.request.b, (long int)srv.response.sum);}else{ROS_ERROR(Failed to call service: add_two_ints);return 1;}return 0;
}
2 编译功能包源码catkin_make方式编译 打开 CMakeList.txt 文件 1)设置头文件相对位置默认为功能包的所在目录 2)生成可执行文件 talker 和 listener 3)设置链接库系统或第三方库函数此处并没有使用其他库 4)设置依赖 5) 生成server和client 两个可执行文件于 ~/catkin_ws/devel/lib/mypackage 中
CMakeList.txt 添加修改代码如下
include_directories(include ${catkin_INCLUDE_DIRS})add_executable(server src/server.cpp)
add_dependencies(server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(server ${catkin_LIBRARIES})add_executable(client src/client.cpp)
add_dependencies(client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(client ${catkin_LIBRARIES})3.终端工作空间根目录 ~/catkin_ws 开始编译
cd ~/catkin_ws
catkin_make
source devel/setup.bash // 已在于终端环境变量文件中设置的无需重新设置三、直接运行 server client
1.新建终端运行ros master
cd ~/catkin_ws
roscore2.新建终端运行服务器节点 server
rosrun mypackage server 3.新建终端运行客户端节点 client
rosrun mypackage client 100 2224.结果显示
[INFO] [146235634.23453542]:with the given [100] and [222],the sum is: [322]四、创建launch启动文件运行
1.创建launch文件夹创建启动文件 mypackage.launch
cd catkin_ws/src/mypackage/
mkdir launch
cd launch/
touch mypackage.launchmypackage.launch文件内容设置同时启动服务节点
launchnode pkgmypackage typeserver nameadd_two_ints_server outputscreen/
/launch2.运行launch文件并查看消息默认会运行roscore
roslaunch mypackage mypackage.launch 3.新建终端运行client 执行文件输入两个整型参数
rosrun mypackage client 100 1004.结果显示
[INFO] [146235634.23453542]:with the given [100] and [100],the sum is: [200]
