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为了省事复制了一个,内容是:
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int64 a
int64 b
—
int64 sum
其中的横线是三个短横线,上面是客户端发给服务端的消息类型,下面是服务端发给客户端的
message_generation message_runtime
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation)
catkin_package(
...
CATKIN_DEPENDS message_runtime ...
...
)
add_service_files(
FILES
AddTwoInts.srv
)
generate_messages(
DEPENDENCIES
std_msgs
)
#include "ros/ros.h"
#include "msg_srv/AddTwoInts.h"
bool add(msg_srv::AddTwoInts::Request &req,
msg_srv::AddTwoInts::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, "add_two_ints_server");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
#include "ros/ros.h"
#include "msg_srv/AddTwoInts.h"
#includeint main(int argc, char **argv)
{ros::init(argc, argv, "add_two_ints_client");
if (argc != 3)
{ROS_INFO("usage: add_two_ints_client X Y");
return 1;
}
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient("add_two_ints");
msg_srv::AddTwoInts 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 add_two_ints");
return 1;
}
return 0;
}
add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server msg_srv_gencpp)
add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client msg_srv_gencpp)
rosrun msg_srv add_two_ints_server
rosrun msg_srv add_two_ints_client 1 39
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