1.创建功能包
cd ~/testROS_ws/src
catkin_create_pkg service_example roscpp rospy std_msgs geometry_msgs turtlesim
创建cpp文件
/*** 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serviceros::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;
};
修改cmake
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
编译
catkin_make
运行
roscore
rosrun turtlesim turtlesim_node
rosrun service_example turtle_spawn