ros2 foxy 学习3 - service 通讯

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已于 2022-04-11 23:07:47 修改 · 509 阅读

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于 2022-04-10 23:26:25 首次发布

Services are another method of communication for nodes in the ROS graph. Services are based on a call-and-response model, versus topics’ publisher-subscriber model. While topics allow nodes to subscribe to data streams and get continual updates, services only provide data when they are specifically called by a client.

服务，是另外一种通讯方式，不同于topic 持续的，周期的。

服务是，事件类型的。被客户端请求了，服务器端会响应。响应结束，服务可能就结束了。

节点需要实现客户端或服务端的逻辑。

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key
ros2 service list -t

/clear
/kill
/reset
/spawn
/teleop_turtle/describe_parameters
/teleop_turtle/get_parameter_types
/teleop_turtle/get_parameters
/teleop_turtle/list_parameters
/teleop_turtle/set_parameters
/te