ROS-客户端client的编程实现

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2021年2月13日 09时13分

话题模型

 

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创建功能包

 

cd ~/catkin_ws/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs
turtlesim

 

客户端代码

 

/**
 * 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;
};

 

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配置客户端代码编译规则

 

add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})

 

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编译并运行客户端

 

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_spawn

 

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