1矾瘾、首先自定義 srv 文件

與自定義 msg 文件類似，在工作目錄下創(chuàng)建 srv 目錄
在目錄下創(chuàng)建 xxx.srv 文件
例： 創(chuàng)建 addints.srv 文件

編寫代碼

其中首先編寫客戶端發(fā)送的數(shù)據(jù)類型
以 --- 作分割符牲平，區(qū)分客戶端和服務(wù)端處理的數(shù)據(jù)類型
編寫服務(wù)端處理發(fā)送的數(shù)據(jù)

#客戶端發(fā)送的數(shù)據(jù)
int32 num1
int32 num2
---
#服務(wù)端發(fā)送的數(shù)據(jù)
int32 sum

修改package.xml文件

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

修改CMakeLists.txt文件

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

# Generate services in the 'srv' folder
add_service_files(
  FILES
  addints.srv
)

# Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

ctrl+shift+B編譯渊季，在工作空間下 devel 文件夾中可發(fā)現(xiàn)生成的中間文件 addints.h 頭文件等.

復(fù)制該地址唆涝，打開 c_cpp_properties.json 文件進(jìn)行添加 Path:

"/xxx/工作空間/devel/include/**"#根據(jù)自己的目錄自行填寫

服務(wù)端C++文件編寫

#include "ros/ros.h"
#include "server_client/addints.h"
bool doADD(server_client::addintsRequest& req,server_client::addintsResponse& resp)
{
    int num1 = req.num1;
    int num2 = req.num2;
    ROS_INFO("接收到的數(shù)據(jù)為%d,%d",num1,num2);

    if(num1<0||num2<0)                                      //判斷輸入數(shù)據(jù)是否合法
    {
        ROS_ERROR("請(qǐng)輸入兩個(gè)整數(shù)");
        return false;

    }
    else{
        int sum = num1+num2;
        resp.sum = sum;
        ROS_INFO("處理的結(jié)果為：%d",sum);
        return true;
    }
}
int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    ros::init(argc ,argv,"server");
    ros::NodeHandle nh;
    ros::ServiceServer server = nh.advertiseService("addints",doADD);
    ROS_INFO("啟動(dòng)成功");
    ros::spin();                                                      //因?yàn)樾枰幚矶啻瓮严郏源颂幮枰猻pin返回
    return 0;
}

客戶端C++文件編寫

#include "ros/ros.h"
#include "server_client/addints.h"
int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    if(argc != 3)
    {
        ROS_ERROR("請(qǐng)輸入三個(gè)整數(shù)");
        return 1;
    }
    ros::init(argc,argv,"client");
    
    ros::NodeHandle nh;

    ros::ServiceClient client = nh.serviceClient<server_client::addints>("addints");

    ros::service::waitForService("addints");               //通過此函數(shù)可以保證服務(wù)端啟動(dòng)后再發(fā)送數(shù)據(jù)

    server_client::addints ai;                                      //組織信息傳送到服務(wù)端
    ai.request.num1 = atoi(argv[1]);
    ai.request.num2 = atoi(argv[2]);

    bool flag = client.call(ai);                                     //判斷數(shù)據(jù)是否已經(jīng)發(fā)送成功

    if(flag)
    {
        ROS_INFO("數(shù)據(jù)處理成功萝究，結(jié)果為：%d",ai.response.sum);
    }
    else{
        ROS_ERROR("數(shù)據(jù)處理失敗");
        return 1;
    }

    return 0;
}

編輯CMakeLists.txt文件

add_executable(server_c src/server.cpp)
add_executable(client_c src/client.cpp)

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(server_c ${PROJECT_NAME}_gencpp)
add_dependencies(client_c ${PROJECT_NAME}_gencpp)


# Specify libraries to link a library or executable target against
target_link_libraries(server_c
  ${catkin_LIBRARIES}
)
target_link_libraries(client_c
  ${catkin_LIBRARIES}
)

Ctrl+Shift+B編譯通過后在工作空間打開終端

roscore啟動(dòng)ros核心

rosrun 功能包 服務(wù)端映射名

rosrun 功能包 客戶端映射名 num1 num2

Screenshot from 2022-06-07 18-35-59.png