需求: 在turtlesim仿真环境中,写一个C++程序,创建客户端,请求/spawn服务,生成多只乌龟
实现效果:
服务通信常用命令行工具:
rosservice list 服务列表
rosservice type /spawn 消息类型
rossrv info turtlesim/Spawn 消息格式
rosservice call /clear 清除功能(可以清理小乌龟走过的线路)
rosservice call /kill “name: ‘turtle1’” 杀死小乌龟
rosservice call /reset 通过设置x,y来设置新乌龟的位置。通过设置theta来设置小乌龟头的朝向。通过设置name来设置小乌龟的名称。
rosservice call /turtle1/set_pen “{r: 255, g: 0, b: 0, width: 10, ‘off’: 0}” 设置小乌龟行走路线的颜色
rosservice call /spawn “x: 0.0 生成新的小乌龟
y: 0.0
theta: 0.0
name: ‘’”
代码部分:
/**
* 服务通信:该例程在turtlesim仿真环境下,请求/spawn服务,服务数据类型turtlesim::Spawn
*/
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtle_spawn");
ros::NodeHandle n;
// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle_client = n.serviceClient<turtlesim::Spawn>("/spawn");
// 初始化turtlesim::Spawn的请求数据
turtlesim::Spawn srv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2";
// 请求服务调用
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_client.call(srv);
// 显示服务调用结果
ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
};