目錄

• 自定義服務數據
• • 定義srv文件
  • 在package.xml中添加功能包依賴
  • 在CMakeLists.txt添加編譯選項
  • 編譯生成語言相關文件
• 使用
• • C++
  • • 編寫程序
    • • person_server.cpp
      • person_client.cpp
    • 配置CMakeLists.txt
    • 編譯并運行
  • python
  • • 編寫程序
    • • person_server.py
      • person_client.py
    • 運行

平臺：華碩 Thinker Edge R 瑞芯微 RK3399Pro
固件版本：Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615

---

記錄自【古月居】古月·ROS入門21講 | 一學就會的ROS機器人入門教程 —— 古月居GYH P15 15.服務數據的定義與使用

自定義服務數據

定義srv文件

cd ~/catkin_workspace/src/learning_service mkdir srv nano ~/catkin_workspace/src/learning_service/srv/Person.srv string name uint8 age uint8 sexuint8 unknown = 0 uint8 male = 1 uint8 female = 2 --- string result

在package.xml中添加功能包依賴

nano ~/catkin_workspace/src/learning_service/package.xml <build_depend>message_generation</build_depend> <exec_depend>message_runtime</exec_depend>

在CMakeLists.txt添加編譯選項

... 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

編譯生成語言相關文件

cd ~/catkin_workspace catkin_make

結果

cd ~/catkin_workspace/devel/include/learning_service ls

可見已生成如下文件：

使用

C++

編寫程序

person_server.cpp

nano ~/catkin_workspace/src/learning_service/src/person_server.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************//*** 該例程將執行/show_person服務，服務數據類型learning_service::Person*/#include <ros/ros.h> #include "learning_service/Person.h"// service回調函數，輸入參數req，輸出參數res bool personCallback(learning_service::Person::Request &req,learning_service::Person::Response &res) {// 顯示請求數據ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex);// 設置反饋數據res.result = "OK";return true; }int main(int argc, char **argv) {// ROS節點初始化ros::init(argc, argv, "person_server");// 創建節點句柄ros::NodeHandle n;// 創建一個名為/show_person的server，注冊回調函數personCallbackros::ServiceServer person_service = n.advertiseService("/show_person", personCallback);// 循環等待回調函數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). ***********************************************************************//*** 該例程將請求/show_person服務，服務數據類型learning_service::Person*/#include <ros/ros.h> #include "learning_service/Person.h"int main(int argc, char** argv) {// 初始化ROS節點ros::init(argc, argv, "person_client");// 創建節點句柄ros::NodeHandle node;// 發現/show_person服務后，創建一個服務客戶端，連接名為/show_person的serviceros::service::waitForService("/show_person");ros::ServiceClient person_client = node.serviceClient<learning_service::Person>("/show_person");// 初始化learning_service::Person的請求數據learning_service::Person srv;srv.request.name = "Tom";srv.request.age = 20;srv.request.sex = learning_service::Person::Request::male;// 請求服務調用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);// 顯示服務調用結果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)

設置需要編譯的代碼和生成的可執行文件；

設置鏈接庫；

添加依賴項。

編譯并運行

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_service person_server # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_service person_client

python

編寫程序

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). ### ######################################################################### 該例程將執行/show_person服務，服務數據類型learning_service::Personimport rospy from learning_service.srv import Person, PersonResponsedef personCallback(req):# 顯示請求數據rospy.loginfo("Person: name:%s age:%d sex:%d", req.name, req.age, req.sex)# 反饋數據return PersonResponse("OK")def person_server():# ROS節點初始化rospy.init_node('person_server')# 創建一個名為/show_person的server，注冊回調函數personCallbacks = rospy.Service('/show_person', Person, personCallback)# 循環等待回調函數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). ### ######################################################################### 該例程將請求/show_person服務，服務數據類型learning_service::Personimport sys import rospy from learning_service.srv import Person, PersonRequestdef person_client():# ROS節點初始化rospy.init_node('person_client')# 發現/spawn服務后，創建一個服務客戶端，連接名為/spawn的servicerospy.wait_for_service('/show_person')try:person_client = rospy.ServiceProxy('/show_person', Person)# 請求服務調用，輸入請求數據response = person_client("Tom", 20, PersonRequest.male)return response.resultexcept rospy.ServiceException, e:print "Service call failed: %s"%eif __name__ == "__main__":#服務調用并顯示調用結果print "Show person result : %s" %(person_client())

運行

sudo chmod +x ~/catkin_workspace/src/learning_service/scripts/person_server.py sudo chmod +x ~/catkin_workspace/src/learning_service/scripts/person_client.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_service person_server.py # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_service person_client.py

總結

以上是生活随笔為你收集整理的【RK3399Pro学习笔记】十一、ROS服务数据的定义与使用的全部內容，希望文章能夠幫你解決所遇到的問題。

如果覺得生活随笔網站內容還不錯，歡迎將生活随笔推薦給好友。