《ROS應(yīng)用技術(shù)》課件-12.ros自定義接口消息-自定義服務(wù)消息實(shí)訓(xùn)

ROS應(yīng)用開發(fā)技術(shù)ROS自定義消息接口-服務(wù)（上）01知識回顧02文件創(chuàng)建與編寫03文件運(yùn)行目錄CONTENTS知識回顧自定義服務(wù)消息回顧通過定義.srv文件實(shí)現(xiàn)節(jié)點(diǎn)間服務(wù)通信接口自定義服務(wù)消息支持功能復(fù)雜功能的交互，如運(yùn)動規(guī)劃、圖像處理等文件創(chuàng)建與編寫C++實(shí)訓(xùn)操作進(jìn)入learn_service功能包目錄，新建srv文件夾，創(chuàng)建IntPlus.srv文件操作步驟uint8auint8b---uint8result文件內(nèi)容文件內(nèi)我們可以去定義request和response，以虛線為界，上面是request，下面是response。CMakelist.txt配置<build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend>package.xml#在find_package里邊加上message_generationadd_service_files(FILESIntPlus.srv)generate_messages(DEPENDENCIESstd_msgs)CMakeList.txt在package.xml文件中添加構(gòu)建依賴和執(zhí)行依賴，打開CMakeList.txt文件添加編譯選項(xiàng)。編譯與服務(wù)消息查詢rossrvshowlearn_service/IntPluscatkin_make使用catkin_make命令編譯，使用rossrvshow命令查詢自定義服務(wù)消息是否生成。IntPlus_client.cpp文件編寫#include<ros/ros.h>#include"learn_service/IntPlus.h"#include<iostream>usingnamespacestd;intmain(intargc,char**argv){inti,k;cin>>i;cin>>k;ros::init(argc,argv,"IntPlus_client");//初始化ROS節(jié)點(diǎn)ros::NodeHandlenode;//創(chuàng)建節(jié)點(diǎn)句柄ros::service::waitForService("/Two_Int_Plus");

IntPlus_client.cpp文件編寫ros::ServiceClientIntPlus_client=node.serviceClient<learn_service::IntPlus>("/Two_Int_Plus");learn_service::IntPlussrv;srv.request.a=i;srv.request.b=k;ROS_INFO("Callservicetoplus%dand%d",srv.request.a,srv.request.b);IntPlus_client.call(srv);ROS_INFO("Showtheresult:%d",srv.response.result);//顯示服務(wù)調(diào)用結(jié)果

return0;}IntPlus_server文件編#include<ros/ros.h>#include"learn_service/IntPlus.h"boolIntPlusCallback(learn_service::IntPlus::Request&req,learn_service::IntPlus::Response&res){ROS_INFO("number1is:%d,number2is:%d",req.a,req.b);//顯示請求數(shù)據(jù)res.result=req.a+req.b;//反饋結(jié)果為兩數(shù)之和returnres.result;}intmain(intargc,char**argv){ros::init(argc,argv,"IntPlus_server");//ROS節(jié)點(diǎn)初始化ros::NodeHandlen;//創(chuàng)建節(jié)點(diǎn)句柄ros::ServiceServerInt_Plus_service=n.advertiseService("/Two_Int_Plus",IntPlusCallback);ROS_INFO("Readytocaculate.");ros::spin();return0;}CMakeLists.txt配置修改CMakeLists.txt文件，添加右側(cè)內(nèi)容add_executable(IntPlus_clientsrc/IntPlus_client.cpp)target_link_libraries(IntPlus_client${catkin_LIBRARIES})add_dependencies(IntPlus_client${PROJECT_NAME}_generate_messages_cpp)add_executable(IntPlus_serversrc/IntPlus_server.cpp)target_link_libraries(IntPlus_server${catkin_LIBRARIES})add_dependencies(IntPlus_server${PROJECT_NAME}_generate_messages_cpp)文件運(yùn)行程序啟動231rosrunlearn_serviceIntPlus_serverrosrunlearn_serviceIntPlus_client編譯功能包roscore啟動服務(wù)端和客戶端啟動roscorecatkin_makeROS應(yīng)用開發(fā)技術(shù)ROS自定義消息接口-話題（下）01文件編寫02文件運(yùn)行目錄CONTENTS文件編寫模塊化架構(gòu)Information_subscriber.py訂閱者發(fā)布者進(jìn)入learn_topic功能包的scripts文件夾下，編寫一個發(fā)布者和一個訂閱者來使用之前自定義的話題消息Information_publisher.pyInformation_publisher.py文件編寫importrospyfromlearn_topic.msgimportInformation#導(dǎo)入自定義的msgdefinformation_publisher():rospy.init_node('information_publisher',anonymous=True)info_pub=rospy.Publisher('/company_info',Information,queue_size=6)rate=rospy.Rate(10)#設(shè)置循環(huán)的頻率whilenotrospy.is_shutdown():info_msg=Information()info_pany="Yahboom";info_msg.city="Shenzhen";info_pub.publish(info_msg)#發(fā)布消息rospy.loginfo("Thisis%sin%s.",info_pany,info_msg.city)#打印發(fā)布消息rate.sleep()#按照循環(huán)頻率延時if__name__=='__main__':try:information_publisher()exceptrospy.ROSInterruptException:passInformation_subscriber文件編寫importrospyfromlearning_topic.msgimportInformation#導(dǎo)入自定義的msgdefCompanyInfoCallback(msg):rospy.loginfo("company:name:%scity:%s",pany,msg.city)#打印訂閱接收到信息defInfomation_subscriber():rospy.init_node('Infomation_subscriber',anonymous=True)#ROS節(jié)點(diǎn)初始化

#創(chuàng)建一個Subscriber，訂閱名為/company_info的topic，注冊回調(diào)函數(shù)personInfoCallbackrospy.Subscriber("/company_info",Information,CompanyInfoCallback)rospy.spin()#循環(huán)等待回調(diào)函數(shù)if__name__=='__main__':Infomation_subscriber()賦予執(zhí)行權(quán)限為Python文件添加可執(zhí)行權(quán)限。執(zhí)行權(quán)限使用chmod命令添加執(zhí)行權(quán)限，非root用戶需在命令前加sudo。sudochmod