ROS服务和客户端

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TargetTabletopSrv.srv

string Objectstring TargetTabletop---bool FeedBackFlag

FeedBackFlag.msg

bool FeedBackFlag

TargetTabletop.msg

string Objectstring 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");//clientgraspService->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;}

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