ROS之创建客户端代码

蔚落 2023-06-28 06:21 80阅读 0赞

**如何实现一个客户端**

*  初始化ROS节点；  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70]
    
     *  **如何配置 CMakeLists中的编译规则**
        
         *  设置需要编译的代码和生成可执行文件
         *  设置链接库

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

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 1]

*  创建一个Client实例

#include <ros/ros.h>
    #include <turtlesim/Spawn.h>
    //
    // Created by philtell on 2020/1/12.
    //
    int main(int argc,char** argv){
        
        //Initialize the Ros node
        ros::init(argc,argv,"turtle_spawn");
        //Create the NodeHandle Node
        ros::NodeHandle node;
        //Find the service named "/spawn"
        ros::service::waitForService("/spawn");
        //create the client which connected the service named "/spawn"
        ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
        //initialize turtlesim::Spawn's Data
        turtlesim::Spawn srv;
        srv.request.x = 2.0;
        srv.request.y = 2.0;
        srv.request.name = "turtle2";
        //request service recall
        ROS_INFO("turtle call back remind x:%0.6f,y:%0.6f,name:%s",srv.request.x,srv.request.y,
        srv.request.name.c_str());
        add_turtle.call(srv);
        //show service recall
        ROS_INFO("turtle name is %s",srv.response.name.c_str());
        return 0;
    }

*  发布服务请求数据
    
     *  回到`/catkin`下，输入`catkin_make`进行编译。
     *  新开一个终端，打开turtle节点，`rosrun turtlesim turtlesim_node`
     *  再打开一个终端，编译`source ~/catkin_ws/devel/setup.zsh`，如果你的shell是bash，那么你就编译`source ~/catkin_ws/devel/setup.bash`
     *  最后，运行Client端的代码`rosrun learning_service turtle_spawn`  
        运行效果如下图所示：  
        ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 2]  
        ![在这里插入图片描述][20200113152744220.png]  
        ![在这里插入图片描述][20200113152841361.png]  
        ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 3]
 *  等待Server处理之后的应答结点

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20200107204149475.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20200107204505962.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 2]: https://img-blog.csdnimg.cn/2020011315271733.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA==,size_16,color_FFFFFF,t_70
[20200113152744220.png]: https://img-blog.csdnimg.cn/20200113152744220.png
[20200113152841361.png]: https://img-blog.csdnimg.cn/20200113152841361.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 3]: https://img-blog.csdnimg.cn/20200113152901523.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA==,size_16,color_FFFFFF,t_70