vue做的项目网站,python语言基础知识,黄山旅游攻略ppt,北京自助建站系统ROS2自定义服务接口 在src/village_interface 下构建srv文件夹 src/village_interface/srv 下新建一个BorrowMoney.srv 遵循大小写编程规范
# 客户端请求
string name
uint32 money
# 中间这三个横杠很重要 不能删掉
---
# 服务端响应
bool success
uint32 money接口编译 修改…ROS2自定义服务接口 在src/village_interface 下构建srv文件夹 src/village_interface/srv 下新建一个BorrowMoney.srv 遵循大小写编程规范
# 客户端请求
string name
uint32 money
# 中间这三个横杠很重要 不能删掉
---
# 服务端响应
bool success
uint32 money接口编译 修改cmakelists.txt
# find_package(sensor_msgs REQUIRED) 如果使用了 sensor_msgs下的数据类型
find_package(rosidl_default_generators REQUIRED) # 生成接口依赖rosidl_generate_interfaces(${PROJECT_NAME}srv/BorrowMoney.srv# 如果有该服务接口中的数据类型有依赖其他接口如sensor_msgs 应再加一句 DEPENDENCIES sensor_msgs
)如果使用了其他的依赖还要修改package.xml以sensor_msgs为例 dependsensor_msgs/dependbuild_dependrosidl_default_generators/build_dependexec_dependrosidl_default_runtime/exec_dependmember_of_grouprosidl_interface_packages/member_of_groupros2 service call /borrow_money village_interface/srv/BorrowMoney {name: acan, money: 5}
ros2 service call 服务名称 服务消息类型 消息内容import rclpy
from rclpy.node import Node
from std_msgs.msg import String,UInt32
from village_interface.srv import BorrowMoneyclass WriterNode(Node):def __init__(self,name):super().__init__(name)self.get_logger().info(大家好我是%s. % name)# String 话题消息类型# sexy_gril 话题名# 10 话题发布类型# self.create_publisher(消息类型, 话题名, 发布频率)# 创建发布者self.pub_novel self.create_publisher(String, sexy_gril, 10)# self.create_subscription(消息类型,话题名,回调函数,队列长度)# 创建订阅者self.sub_money self.create_subscription(UInt32,sexy_gril_money,self.rev_money_callback,10)# 创建客户端self.borrow_server self.create_service(BorrowMoney,borrow_money,self.borrowmoney_callback)self.timer_period 5self.timer self.create_timer(self.timer_period,self.timer_callback)self.counter 0self.count 80# 创建服务端回调函数def borrowmoney_callback(self, request, response):request: 来自客户端的请求数据response来自服务端的响应数据self.get_logger().info(收到来自%s的请求目前账户里有%d元%(request.name,self.count))if request.money self.count * 0.1: response.success Trueresponse.money request.moneyself.count - request.moneyself.get_logger().info(借钱成功借出%d元目前账户结余%d%(request.money,self.count))else:response.success Falseresponse.money 0self.get_logger().info(借钱失败)return responsedef timer_callback(self):msg String()msg.data 第%d回:潋滟湖 %d 次偶遇胡艳娘 %(self.counter,self.counter)self.pub_novel.publish(msgmsg)self.get_logger().info(发布消息: %s % msg.data)self.counter self.counter 1def rev_money_callback(self,money):self.count self.count money.dataself.get_logger().info(收到了%d的钱%money.data)def hello(argsNone):rclpy.init(argsargs)li3_node WriterNode(li4)rclpy.spin(li3_node)rclpy.shutdown()
