威海电子商务网站建设,企业网站建设的基本原则有哪些?,官方小程序,wordpress 搜索 下一个目录自定义服务数据定义srv文件在package.xml中添加功能包依赖在CMakeLists.txt添加编译选项编译生成语言相关文件使用C编写程序person_server.cppperson_client.cpp配置CMakeLists.txt编译并运行python编写程序person_server.pyperson_client.py运行平台#xff1a;华硕 Thin…
目录自定义服务数据定义srv文件在package.xml中添加功能包依赖在CMakeLists.txt添加编译选项编译生成语言相关文件使用C编写程序person_server.cppperson_client.cpp配置CMakeLists.txt编译并运行python编写程序person_server.pyperson_client.py运行平台华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月·ROS入门21讲 | 一学就会的ROS机器人入门教程 —— 古月居GYH P15 15.服务数据的定义与使用
自定义服务数据
定义srv文件
cd ~/catkin_workspace/src/learning_service
mkdir srv
nano ~/catkin_workspace/src/learning_service/srv/Person.srvstring name
uint8 age
uint8 sexuint8 unknown 0
uint8 male 1
uint8 female 2
---
string result在package.xml中添加功能包依赖
nano ~/catkin_workspace/src/learning_service/package.xmlbuild_dependmessage_generation/build_depend
exec_dependmessage_runtime/exec_depend在CMakeLists.txt添加编译选项
...
find_package(... message_generation)
...
add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)
...
catkin_package(... message_runtime)
...nano ~/catkin_workspace/src/learning_service/CMakeLists.txt编译生成语言相关文件
cd ~/catkin_workspace
catkin_make结果
cd ~/catkin_workspace/devel/include/learning_service
ls可见已生成如下文件
使用
C
编写程序
person_server.cpp
nano ~/catkin_workspace/src/learning_service/src/person_server.cpp/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************//*** 该例程将执行/show_person服务服务数据类型learning_service::Person*/#include ros/ros.h
#include learning_service/Person.h// service回调函数输入参数req输出参数res
bool personCallback(learning_service::Person::Request req,learning_service::Person::Response res)
{// 显示请求数据ROS_INFO(Person: name:%s age:%d sex:%d, req.name.c_str(), req.age, req.sex);// 设置反馈数据res.result OK;return true;
}int main(int argc, char **argv)
{// ROS节点初始化ros::init(argc, argv, person_server);// 创建节点句柄ros::NodeHandle n;// 创建一个名为/show_person的server注册回调函数personCallbackros::ServiceServer person_service n.advertiseService(/show_person, personCallback);// 循环等待回调函数ROS_INFO(Ready to show person informtion.);ros::spin();return 0;
}person_client.cpp
nano ~/catkin_workspace/src/learning_service/src/person_client.cpp/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************//*** 该例程将请求/show_person服务服务数据类型learning_service::Person*/#include ros/ros.h
#include learning_service/Person.hint main(int argc, char** argv)
{// 初始化ROS节点ros::init(argc, argv, person_client);// 创建节点句柄ros::NodeHandle node;// 发现/show_person服务后创建一个服务客户端连接名为/show_person的serviceros::service::waitForService(/show_person);ros::ServiceClient person_client node.serviceClientlearning_service::Person(/show_person);// 初始化learning_service::Person的请求数据learning_service::Person srv;srv.request.name Tom;srv.request.age 20;srv.request.sex learning_service::Person::Request::male;// 请求服务调用ROS_INFO(Call service to show person[name:%s, age:%d, sex:%d], srv.request.name.c_str(), srv.request.age, srv.request.sex);person_client.call(srv);// 显示服务调用结果ROS_INFO(Show person result : %s, srv.response.result.c_str());return 0;
}配置CMakeLists.txt
nano ~/catkin_workspace/src/learning_service/CMakeLists.txt添加
add_executable(person_server src/person_server.cpp)
target_link_libraries(person_server ${catkin_LIBRARIES})
add_dependencies(person_server ${PROJECT_NAME}_gencpp)add_executable(person_client src/person_client.cpp)
target_link_libraries(person_client ${catkin_LIBRARIES})
add_dependencies(person_client ${PROJECT_NAME}_gencpp)设置需要编译的代码和生成的可执行文件设置链接库添加依赖项。
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 learning_service person_server
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_service person_clientpython
编写程序
person_server.py
nano ~/catkin_workspace/src/learning_service/scripts/person_server.py#!/usr/bin/env python
# -*- coding: utf-8 -*-########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
######################################################################### 该例程将执行/show_person服务服务数据类型learning_service::Personimport rospy
from learning_service.srv import Person, PersonResponsedef personCallback(req):# 显示请求数据rospy.loginfo(Person: name:%s age:%d sex:%d, req.name, req.age, req.sex)# 反馈数据return PersonResponse(OK)def person_server():# ROS节点初始化rospy.init_node(person_server)# 创建一个名为/show_person的server注册回调函数personCallbacks rospy.Service(/show_person, Person, personCallback)# 循环等待回调函数print Ready to show person informtion.rospy.spin()if __name__ __main__:person_server()person_client.py
nano ~/catkin_workspace/src/learning_service/scripts/person_client.py#!/usr/bin/env python
# -*- coding: utf-8 -*-########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
######################################################################### 该例程将请求/show_person服务服务数据类型learning_service::Personimport sys
import rospy
from learning_service.srv import Person, PersonRequestdef person_client():# ROS节点初始化rospy.init_node(person_client)# 发现/spawn服务后创建一个服务客户端连接名为/spawn的servicerospy.wait_for_service(/show_person)try:person_client rospy.ServiceProxy(/show_person, Person)# 请求服务调用输入请求数据response person_client(Tom, 20, PersonRequest.male)return response.resultexcept rospy.ServiceException, e:print Service call failed: %s%eif __name__ __main__:#服务调用并显示调用结果print Show person result : %s %(person_client())运行
sudo chmod x ~/catkin_workspace/src/learning_service/scripts/person_server.py
sudo chmod x ~/catkin_workspace/src/learning_service/scripts/person_client.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 learning_service person_server.py
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_service person_client.py
