１.創建功能包

cd ~/testROS_ws/src

catkin_create_pkg service_example roscpp rospy std_msgs geometry_msgs turtlesim

?

創建cpp文件　

/*** 該例程將請求/spawn服務，服務數據類型turtlesim::Spawn*/#include <ros/ros.h> #include <turtlesim/Spawn.h>int main(int argc, char** argv) {// 初始化ROS節點ros::init(argc, argv, "turtle_spawn");// 創建節點句柄ros::NodeHandle node;// 發現/spawn服務后，創建一個服務客戶端，連接名為/spawn的serviceros::service::waitForService("/spawn");ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");// 初始化turtlesim::Spawn的請求數據turtlesim::Spawn srv;srv.request.x = 2.0;srv.request.y = 2.0;srv.request.name = "turtle2";// 請求服務調用ROS_INFO("Call service to spwan turtle[x:%0.6f, y:%0.6f, name:%s]", srv.request.x, srv.request.y, srv.request.name.c_str());add_turtle.call(srv);// 顯示服務調用結果ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());return 0; };

修改cmake

add_executable(turtle_spawn src/turtle_spawn.cpp) target_link_libraries(turtle_spawn ${catkin_LIBRARIES})

編譯

catkin_make

運行

roscore

rosrun turtlesim turtlesim_node

rosrun service_example turtle_spawn

總結

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