service通信server-python

service通信server¶

service通信分为server和client端

实现¶

1. 创建package¶

ros2 pkg create --build-type ament_python py_srvcli --dependencies rclpy example_interfaces

可以修改package.xml文件如下信息

<description>C++ client server tutorial</description>
<maintainer email="you@email.com">Your Name</maintainer>
<license>Apache License 2.0</license>

2. 编写server节点代码¶

2.1 编写代码¶

在package的py_srvcli下创建server.py文件,代码如下

from example_interfaces.srv import AddTwoInts
import rclpy
from rclpy.node import Node

class MyServer(Node):
    def __init__(self):
        super(MyServer, self).__init__('py_server')
        self.service = self.create_service(AddTwoInts, 'py_service', self.call_back)

    def call_back(self,req,res):
        res.sum = req.a+req.b
        return res


def main():
    rclpy.init()
    node = MyServer()
    rclpy.spin(node)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

2.2 添加配置¶

打开setup.py文件,在console_scripts节点下添加配置

'service = py_srvcli.server:main',

3. 编译工程¶

colcon build

4. 运行节点¶

ros2 run py_srvcli service