Client客户端向Server发送请求在海龟仿真器下创建一个新的海龟
1.创建功能包
cd /catkin_ws/src
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
然后在你创建的learning_topic文件下的src文件下创建一个turtle_spawn.cpp文件
touch turtle_spawn.cpp
2.创建C++文件
在.cpp文件下输入
/**
* 该例程将请求/spawn服务,服务数据类型turtlesim::Spawn
*/
#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service
ros::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 spwan 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("Spwan turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
};
如何实现一个客户端
- 初始化ROS结点
- 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
3.编辑CMakeLists.txt
加上这两句
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
4.编译并运行
cd /catkin_ws
catkin_make
5.验证
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_spawn
当然,以上三个命令都是在不同终端下输入
结果
创建出一个新的小乌龟