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ROS服务和客户端
TargetTabletopSrv.srv
string Object string TargetTabletop --- bool FeedBackFlag
FeedBackFlag.msg
bool FeedBackFlag
TargetTabletop.msg
string Object string TargetTabletop
创建msg 和srv
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grasp_object_tabletop_server.cpp
创建服务：
/*
定义一个服务，来处理数据；并且发布反馈消息
*/
#include "ros/ros.h"
#include "beginner_tutorials/TargetTabletop.h"
#include "beginner_tutorials/TargetTabletopSrv.h"
#include <iostream>
#include "beginner_tutorials/FeedBackFlag.h"
using namespace std;
beginner_tutorials::FeedBackFlag flag ;
bool grabaction_feedback(beginner_tutorials::TargetTabletopSrv::Request &MSG, beginner_tutorials::TargetTabletopSrv::Response &msg)//grab_feedback
{
int num = 0;
if(MSG.Object == "Object"&& MSG.TargetTabletop == "TargetTabletop" )//判断是否接收到的值为此,可以根据需要进行
{
cout<<"receive the message from the client"<<endl;
msg.FeedBackFlag = true;
cout<<"succeed to send the Feedback"<<endl;
num = 1;
}
if(num == 1)
{
flag.FeedBackFlag = true;
}
return true;
}
int main( int argc,char *argv[] )
{
ros::init(argc,argv,"grasp_object_tabletop_service");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("grasp_object_tabletop", grabaction_feedback); //定义服务
ros::Publisher feedback_ = n.advertise<beginner_tutorials::FeedBackFlag>("feedback_grasp_object_tabletop",10);
ros::Rate loop_rate(20);
ROS_INFO("Ready to receive the message from the grasp_object_tabletop.");
while(ros::ok())
{
if(flag.FeedBackFlag == true)
{
feedback_.publish(flag);
}
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}定义头文件grasp.h
/*
定义一个头文件，创建一个类：GraspService,
*/
#include "ros/ros.h"
#include "beginner_tutorials/TargetTabletop.h"
#include "beginner_tutorials/TargetTabletopSrv.h"
#include <iostream>
class GraspService
{
public:
GraspService();//构造函数
~GraspService();//析构函数
ros::Subscriber sub;//接收
ros::ServiceClient client;//服务的客户端
void callback(const beginner_tutorials::TargetTabletop msg);//定义函数
};grasp.cpp#include "beginner_tutorials/grasp.h"
#include <iostream>
using namespace std;
GraspService::GraspService(){
}
GraspService::~GraspService(){
}
void GraspService::callback(const beginner_tutorials::TargetTabletop msg)//定义一个.msg文件，当接收topic的情况，进入子程序
{
beginner_tutorials::TargetTabletopSrv srv;//创建一个.srv文件，并且定义一个服务srv
srv.request.Object = msg.Object;
srv.request.TargetTabletop = msg.TargetTabletop;
if (client.call(srv))//调用服务
{
cout<<"succeed to call service"<<endl;
}
else
{
ROS_ERROR("Failed to call service !!!!!!!!!!!!");
}
}main.cpp
#include "beginner_tutorials/grasp.h"
int main(int argc, char *argv[])
{
ros::init(argc, argv, "grasp_object_tabletop");
ros::NodeHandle n;
GraspService *graspService = new GraspService();//
graspService->client = n.serviceClient<beginner_tutorials::TargetTabletopSrv>("grasp_object_tabletop");//client
graspService->sub = n.subscribe("goal_grasp_object_tabletop",10, &GraspService::callback, graspService);//msg
ros::Rate r(10.0);
while(n.ok())
{
ros::spin();
r.sleep();
}
return 0;
}ROS服务和客户端
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