ROS学习之自定义srv类型

1. 创建srv文件

cd ~/catkin_ws/src/my_package  
  
mkdir srv 

echo "int64 a
int64 b
---
int64 sum" > srv/AddTwoInts.srv

2. 更改CMakeList.txt文件

更改find_package()函数：

在CMakeList.txt中添加对message_generation包的依赖：

此步骤已经在ROS学习之自定义msg类型一节中添加过了

指定需要转换的srv文件

编译

回到catkin_ws目录下:

catkin_make

编译之后就会生成Num.h头文件，所在目录如下：

测试：

rossrv show my_package/AddTwoInts

CMakeList.txt文件内容

cmake_minimum_required(VERSION 2.8.3)

project(my_package)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

#指定需要转换的msg文件
add_message_files(FILES  Num.msg)
#指定需要转换的srv文件
add_service_files(FILES AddTwoInts.srv)
#只有调用了下面的函数最后才会生成 Num.h 文件
generate_messages() 


catkin_package(
INCLUDE_DIRS include
LIBRARIES my_package
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
DEPENDS system_lib
)

include_directories(
#  include
  ${catkin_INCLUDE_DIRS}
)

# talker_Node在ros中是独一无二的，不能和其它节点名字重复
add_executable(publisher_Node src/publisher.cpp)
target_link_libraries(publisher_Node ${catkin_LIBRARIES})

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