1. 编写服务器程序
cd ~/joey_ws/src/joey_example1
vim ~/joey_ws/src/joey_example1/src/sum_server.cpp
<sum_server.cpp>
#include "ros/ros.h"
#include "joey_example1/sum.h"
bool add(joey_example1::sum::Request &req,
joey_example1::sum::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)
{
ros::init(argc, argv, "sum_server");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("sum", add);
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
2. 编写客户端程序
cd ~/joey_ws/src/joey_example1
vim ~/joey_ws/src/joey_example1/src/sum_client.cpp
<sum_client.cpp>
#include "ros/ros.h"
rinclude "joey_example1/sum.h"
#include <cstdlib>
int main(int argc, char **argv)
{
ros::init(argc, argv, "sum_client");
if (argc != 3)
{
ROS_INFO("usage: sum_client X Y");
return 1;
}
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<joey_example1::sum>("sum");
joey_example1::sum srv;
srv.request.a = atoll(argv[1]);
srv.request.b = atoll(argv[2]);
if (client.call(srv))
{
ROS_INFO("Sum: %ld", (long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service sum");
return 1;
}
return 0;
}
3. 更改CMakelist.txt文件
cd ~/joey_ws/src/joey_example1
vim ~/joey_ws/src/joey_example1/CMakelist.txt
<CMakelist>
add_executable(sum_server src/sum_server.cpp)
target_link_libraries(sum_server ${catkin_LIBRARIES})
add_dependencies(sum_server joey_example1_gencpp)
add_executable(sum_client src/sum_client.cpp)
target_link_libraries(sum_client ${catkin_LIBRARIES})
add_dependencies(sum_client joey_example1_gencpp)
4. 编译执行文件
cd ~/joey_ws/
catkin_make
5. 执行服务器-客户端程序
source ~/joey_ws/devel/setup.bash
roscore
rosrun joey_example1 sum_server
rosrun joey_example1 sum_client 4 6