１.创建功能包

cd ~/catkin_workspace/src

catkin_create_pkg service_example roscpp rospy std_msgs geometry_msgs turtlesim

 

创建cpp文件

/**
 * 该例程将请求/spawn服务，服务数据类型turtlesim::Spawn
 */
 
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
 
int main(int argc, char** argv)
{
    // 初始化ROS节点
    ros::init(argc, argv, "turtle_spawn");
 
    // 创建节点句柄
    ros::NodeHandle node;
 
    // 发现/spawn服务后，创建一个服务客户端，连接名为/spawn的service
    ros::service::waitForService("/spawn");
    ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
 
    // 初始化turtlesim::Spawn的请求数据
    turtlesim::Spawn srv;
    srv.request.x = 2.0;
    srv.request.y = 2.0;
    srv.request.name = "turtle2";
 
    // 请求服务调用
    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);
 
    // 显示服务调用结果
    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})

编译

catkin_make

运行

roscore

rosrun turtlesim turtlesim_node

rosrun service_example turtle_spawn