04_Client端实现1
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2022-08-03
20:20:42
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Client创建流程
1. 创建节点
2. 调用Service
完整代码示例
rospy.init_node(nodeName)1
# 等待服务器连接
rospy.wait_for_service(serviceName)
# 创建服务调用代理
call = rospy.ServiceProxy(serviceName, TwoInts)
# 调用服务
result = call(4, 9)
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#!/usr/bin/env python
# coding:utf-8
import rospy
from rospy_tutorials.srv import AddTwoInts, AddTwoIntsRequest,
AddTwoIntsResponse
if __name__ == '__main__':
# 创建节点
nodeName = "my_client_node"
rospy.init_node(nodeName)
# 创建Service Client
serviceName = "my_service"
client = rospy.ServiceProxy(serviceName, AddTwoInts)
# 等待服务开启
rospy.wait_for_service(serviceName)
# 创建请求数据
request = AddTwoIntsRequest()
request.a = 4
request.b = 5
# 调用服务并且获得响应结果
response = client.call(request)
if isinstance(response, AddTwoIntsResponse):
rospy.loginfo("响应结果: %d" % response.sum)
# 阻塞线程
rospy.spin()
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