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ROS2自定义服务接口

news 2025/7/2 1:25:15

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）

  <depend>sensor_msgs</depend><build_depend>rosidl_default_generators</build_depend><exec_depend>rosidl_default_runtime</exec_depend><member_of_group>rosidl_interface_packages</member_of_group>

ros2 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(msg=msg)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(args=None):rclpy.init(args=args)li3_node = WriterNode("li4")rclpy.spin(li3_node)rclpy.shutdown()