創(chuàng)建代碼

turtle_command_server.cpp

/*** 該例程將執(zhí)行/turtle_command服務，服務數(shù)據(jù)類型std_srvs/Trigger*/#include <ros/ros.h> #include <geometry_msgs/Twist.h> #include <std_srvs/Trigger.h>ros::Publisher turtle_vel_pub; bool pubCommand = false;// service回調(diào)函數(shù)，輸入?yún)?shù)req，輸出參數(shù)res bool commandCallback(std_srvs::Trigger::Request &req,std_srvs::Trigger::Response &res) {pubCommand = !pubCommand;// 顯示請求數(shù)據(jù)ROS_INFO("Publish turtle velocity command [%s]", pubCommand==true?"Yes":"No");// 設置反饋數(shù)據(jù)res.success = true;res.message = "Change turtle command state!"return true; }int main(int argc, char **argv) {// ROS節(jié)點初始化ros::init(argc, argv, "turtle_command_server");// 創(chuàng)建節(jié)點句柄ros::NodeHandle n;// 創(chuàng)建一個名為/turtle_command的server，注冊回調(diào)函數(shù)commandCallbackros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback);// 創(chuàng)建一個Publisher，發(fā)布名為/turtle1/cmd_vel的topic，消息類型為geometry_msgs::Twist，隊列長度10turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);// 循環(huán)等待回調(diào)函數(shù)ROS_INFO("Ready to receive turtle command.");// 設置循環(huán)的頻率ros::Rate loop_rate(10);while(ros::ok()){// 查看一次回調(diào)函數(shù)隊列ros::spinOnce();// 如果標志為true，則發(fā)布速度指令if(pubCommand){geometry_msgs::Twist vel_msg;vel_msg.linear.x = 0.5;vel_msg.angular.z = 0.2;turtle_vel_pub.publish(vel_msg);}//按照循環(huán)頻率延時loop_rate.sleep();}return 0; }

修改cmake

add_executable(turtle_command_server src/turtle_command_server.cpp) target_link_libraries(turtle_command_server ${catkin_LIBRARIES})

編譯

catkin_make

運行

roscore

rosrun turtlesim turtlesmi_node

rosrun service_example?turtle_command_server

rosservice call /turtle_command tab鍵

總結(jié)

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