目錄

• 如何實現一個客戶端
• C++
• • 創建功能包
  • 編寫程序
  • 配置CMakeLists.txt
  • 編譯并運行
• python
• • 創建并編寫腳本
  • 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 P13 13.客戶端Client的編程實現

如何實現一個客戶端

初始化ROS節點；

創建一個Client實例；

發布服務請求數據；

等待Server處理之后的應答結果。

C++

創建功能包

cd ~/catkin_workspace/src catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim

編寫程序

nano ~/catkin_workspace/src/learning_service/src/turtle_spawn.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************//*** 該例程將請求/spawn服務，服務數據類型turtlesim::Spawn*/#include <ros/ros.h> #include <turtlesim/Spawn.h>int main(int argc, char** argv) {// 初始化ROS節點ros::init(argc, argv, "turtle_spawn");// 創建節點句柄ros::NodeHandle node;// 發現/spawn服務后，創建一個服務客戶端，連接名為/spawn的serviceros::service::waitForService("/spawn");ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");// 初始化turtlesim::Spawn的請求數據turtlesim::Spawn srv;srv.request.x = 2.0;srv.request.y = 2.0;srv.request.name = "turtle2";// 請求服務調用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);// 顯示服務調用結果ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());return 0; };

配置CMakeLists.txt

nano ~/catkin_workspace/src/learning_service/CMakeLists.txt

添加

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

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 turtlesim turtlesim_node # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_service turtle_spawn

python

創建并編寫腳本

cd ~/catkin_workspace/src/learning_service mkdir scripts cd ~/catkin_workspace/src/learning_service/scripts nano turtle_spawn.py #!/usr/bin/env python # -*- coding: utf-8 -*-######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################### 該例程將請求/spawn服務，服務數據類型turtlesim::Spawnimport sys import rospy from turtlesim.srv import Spawndef turtle_spawn():# ROS節點初始化rospy.init_node('turtle_spawn')# 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('/spawn')try:add_turtle = rospy.ServiceProxy('/spawn', Spawn)# 請求服務調用，輸入請求數據response = add_turtle(2.0, 2.0, 0.0, "turtle2")return response.nameexcept rospy.ServiceException, e:print "Service call failed: %s"%eif __name__ == "__main__":#服務調用并顯示調用結果print "Spwan turtle successfully [name:%s]" %(turtle_spawn())

運行

sudo chmod +x ~/catkin_workspace/src/learning_service/scripts/turtle_spawn.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 turtlesim turtlesim_node # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_service turtle_spawn.py

總結

以上是生活随笔為你收集整理的【RK3399Pro学习笔记】九、ROS客户端Client的编程实现的全部內容，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。