ROS21讲

1 客户端Client的编程实现

参考：https://www.guyuehome.com/34660

catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
//turtlesim中包含了服务数据类型turtlesim::Spawn

#include<ros/ros.h>
#include<turtlesim/Spawn.h> //服务数据类型turtlesim::Spawn

int main(int argc, char** argv)
{
    
	ros::init(argc, argv, "turtle_spawn");//1初始化ros客户端
	ros::NodeHandle node;
	ros::service::waitForService("/spawn");//2查询当前系统是不是有/spawn该服务，如果没有就会一直wait。
	ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");//2如果有该服务，创建一个客户端client实例
	turtlesim::Spawn srv;// 初始化turtlesim::Spawn的请求数据（封装请求数据）
	srv.request.x = 2.0;
	srv.request.y = 2.0;
	srv.request.name = "turtle2";
	ROS_INFO("Call service to spawn turtle[x:%0.6f,y:%0.6f,name:%s]", srv.request.x, srv.request.y, srv.request.name.c_str());
	add_turtle.call(srv);//客户端call发布请求，请求发出去等待回馈数据，回馈成功继续
	return 0;
}

target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
//连接到ros的一些库