C++
创建功能包
cd ~/catkin_workspace/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
编写程序
nano ~/catkin_workspace/src/learning_service/src/turtle_spawn.cpp
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/spawn服务，服务数据类型turtlesim::Spawn
*/
#include
#include
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("/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;
};
配置CMakeLists.txt
nano ~/catkin_workspace/src/learning_service/CMakeLists.txt
添加
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
编译并运行
cd ~/catkin_workspace
catkin_make
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_service turtle_spawn
python
创建并编写脚本
cd ~/catkin_workspace/src/learning_service
mkdir scripts
cd ~/catkin_workspace/src/learning_service/scripts
nano turtle_spawn.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
########################################################################
# 该例程将请求/spawn服务，服务数据类型turtlesim::Spawn
import sys
import rospy
from turtlesim.srv import Spawn
def turtle_spawn():
# ROS节点初始化
rospy.init_node('turtle_spawn')
# 发现/spawn服务后，创建一个服务客户端，连接名为/spawn的service
rospy.wait_for_service('/spawn')
try:
add_turtle = rospy.ServiceProxy('/spawn', Spawn)
# 请求服务调用，输入请求数据
response = add_turtle(2.0, 2.0, 0.0, "turtle2")
return response.name
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if __name__ == "__main__":
#服务调用并显示调用结果
print "Spwan turtle successfully [name:%s]" %(turtle_spawn())
运行
sudo chmod +x ~/catkin_workspace/src/learning_service/scripts/turtle_spawn.py
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_service turtle_spawn.py
C++
创建功能包
cd ~/catkin_workspace/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
编写程序
nano ~/catkin_workspace/src/learning_service/src/turtle_spawn.cpp
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/spawn服务，服务数据类型turtlesim::Spawn
*/
#include
#include
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("/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;
};
配置CMakeLists.txt
nano ~/catkin_workspace/src/learning_service/CMakeLists.txt
添加
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
编译并运行
cd ~/catkin_workspace
catkin_make
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_service turtle_spawn
python
创建并编写脚本
cd ~/catkin_workspace/src/learning_service
mkdir scripts
cd ~/catkin_workspace/src/learning_service/scripts
nano turtle_spawn.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
########################################################################
# 该例程将请求/spawn服务，服务数据类型turtlesim::Spawn
import sys
import rospy
from turtlesim.srv import Spawn
def turtle_spawn():
# ROS节点初始化
rospy.init_node('turtle_spawn')
# 发现/spawn服务后，创建一个服务客户端，连接名为/spawn的service
rospy.wait_for_service('/spawn')
try:
add_turtle = rospy.ServiceProxy('/spawn', Spawn)
# 请求服务调用，输入请求数据
response = add_turtle(2.0, 2.0, 0.0, "turtle2")
return response.name
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if __name__ == "__main__":
#服务调用并显示调用结果
print "Spwan turtle successfully [name:%s]" %(turtle_spawn())
运行
sudo chmod +x ~/catkin_workspace/src/learning_service/scripts/turtle_spawn.py
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_service turtle_spawn.py
举报
