创建Persom.srv
新建srv文件夹
在srv文件夹中创建Persom.srv，编辑文件
string name
uint8 age
uint8 sexuint8 unknown = 0
uint8 male = 1
uint8 female = 2---
string result修改package,xml
add_service_files(FILESPerson.srv
)generate_messages(DEPENDENCIESstd_msgs
)修改cmake
find_package(catkin REQUIRED COMPONENTSgeometry_msgsroscpprospystd_msgsturtlesimmessage_generation #查找依赖
)add_service_files(FILESPerson.srv
)generate_messages(DEPENDENCIESstd_msgs
)catkin_package(
# INCLUDE_DIRS include
# LIBRARIES learning_serviceCATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
# DEPENDS system_lib
)编译
catkin_make
编辑person_client.cpp
/*** 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.h"int 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/spawn服务后，创建一个服务客户端，连接名为/spawn的serviceros::service::waitForService("/show_person");ros::ServiceClient person_client = node.serviceClient<learning_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;
};
编辑person_server.cpp
/*** 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;
}
修改cmake
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)编译：
catkin_make
运行：
rosrun service_example person_client
rosrun service_example person_server
