ROS服务和客户端

TargetTabletopSrv.srv

string Object
string TargetTabletop
---
bool FeedBackFlag

FeedBackFlag.msg

bool FeedBackFlag

TargetTabletop.msg

string Object
string 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 
#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"<("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 

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 
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"<

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("grasp_object_tabletop");//client
	graspService->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;
}