ROS服务通话：客户端

再编写一个client.cpp：

#include "ros/ros.h"

#include <sstream>

#include "server_client/Addints.h"

int main(int argc,char *argv[]){

setlocale(LC_ALL,"");

ros::init(argc,argv,"client");

ros::NodeHandle n;

ros::ServiceClient client= n.serviceClient<server_client::Addints>("Addints");

server_client::Addints a;

a.request.num1=100;

a.request.num2=200;

bool flag=client.call(a);

if(flag){

ROS_INFO("Successfully responded.");

ROS_INFO("Result = %d",a.response.sum);

}

else{

ROS_INFO("Failed to respnd.");

}

再修改CMakeList.txt:

add_executable(client src/client.cpp)

add_dependencies(client ${PROJECT_NAME}_gencpp)

target_link_libraries(client

${catkin_LIBRARIES}

)

最后先运行rosrun server_client server,再运行rosservice call,再运行rosrun server_client client

结果就运行出来了。要注意两个终端都要source