服务型服务数据定义与使用

服务型服务数据定义与使用每次视频都先使用C语言进行编程实现，可能会导致大家学习乏力，本次仍先使用python进行编程实现

1.不管是c语言还是python语言，都需要创建一个要包含自定义服务的文件夹srv可通过命令touch创建0主文件夹catkinwssrclearningservicesrvPerson.srv・桌面・视频Q图片D文档j下载*rr在里面输入基本信息并保存stringnameuint8ageuint8sexuint8unknown=0uint8male=1uint8female=2stringresultstringnameagesexunknown=0male=1female=2stringresult|因为是自定义服务模型，所以都需要编译在package.xml中添加功能包依赖build_dependmessage_generation/build_dependexec_dependmessage_runtime/exec_depend在CMakeLists.txt添加编译选项find_packagemessage_generationadd_service_filesFILESPerson.srvgenerate_messagesDEPENDENCIESstd_msgscatkin_packagemessage_runtime在中添加的依赖build_dependmessage_generation/build_dependexec_dependmessage_runtime/exec_depend打开9▼区“Eki黑温黑艮ervice保存⑸三Person.srvxpackage.xmlbuildtool_dependcatkin/buildtool_dependbuild_dependgeometry_msgs/build_dependbufld_dependroscpp/build_dependbuild_dependrospy/build_dependbuild_dependstd_msgs/build_dependbuild_dependturtlesim/build_dependbuild_export_dependgeometry_msgs/bufld_export_dependbuild_export_dependroscpp/build_export_dependbuild_export_dependrospy/build_export_dependbuild_export_dependstd_msgs/build_export_dependbuild_exportdependturtlesim/build_export_dependexec_dependgeometry__msgs/exec_dependexec_dependroscpp/exec_dependexec_dependrospy/exec_dependexec_dependstd_msgs/exec_depend।execdependturtlesim/execdepend-build_dependmessage_generation/build_dependexec_dependmessage_runtime/exec_depend!--Theexporttagcontainsotherunspecifiedtags--export1--Othertoolscanreauestadditionalinformationbeolacedhere--中添加编译选项trtrinunuu»ainuiliimvlii^iyajAayunftnd_packagecatkinREQUIREDCOMPONENTSgeometry_msgsroscpprospystd_msgsturtlesim#Generateaddedmessagesandserviceswithanydependencieslistedhere#generate_messagesDEPENDENCIESgeometry_msgs#std_nsgsadd_service_fil.esFILESPerson.srv|generate_messagesDEPENDENCIESstd_msgs#################################################DeclareROSdynamicreconfigureparameters##################################################V#CATKINDEPENDS:catkinpackagesdependentprojectsalsoneed##DEPENDS:systemdependenciesofthisprojectthatdependentprojectsalsoneed|catkin_packageINCLUDE_DIRSincludeDEPENDSgeometry_msgsroscpprospystd_msgsturtlesimmessage_runtime5V##########V#Build##V##########随后编译catkin__makelonnger@lonnger-virtual-machine:*/catkln_ws$catkin_makeBasepath:/home/lonnger/catkinwsSourcespace:/home/lonnger/catkin_ws/srcBuildspace:/home/lonnger/catkin_ws/buildDevelspace:/home/lonnger/catkinws/develInstallspace:/home/lonnger/catkinws/install###Runningcommand:makecmake_check_bufLd_systemntnH/home/Lonnger/catklns/butldH---###########Runningcommand:make-jl-llntn，7home/lonnger/catktn_ws/butldM###对于python来说，准备工作完成了，接下来运行即可roscorerosrunlearning_serviceperson_rosrunlearning_serviceperson_文件FUB«lO««V性・!WKlH

2.在里面加入编译规则add_executableperson_serversrc/person_target_link_librariesperson_server${catkin_LIBRARIES}add_dependenciesperson_server${PROJECT_NAME}_gencppadd_executableperson_clientsrc/person_targetJink_librariesperson_client${catkin__LIBRARIES}add_dependenciesperson_client${PROJECT_NAME}_gencppadd_executableturfle_spawnsrc/turtle_spawn.cpptargetlink_librariesturtle_spawn${catktn_LIBRARIES}addexecutableturtle_command_serversrc/turtle_command_server.cpptarget_link_librariesturtle_command_server${catkin_LIBRARIES|add_executableperson_serversrc/person_server.cpptarget_link_librariesperson_server${catktn_LIBRARIES}add_dependenciesperson_server${PROJECT_NAME}_gencppaddexecutablepersonclientsrc/person_client.cpptarget_link_librariesperson_client${catkin_LIBRARIES}add_dependenciesperson_client${PROJECT_NAME}_gencpp###############Install##

2.随后编译catkin_make[33%]BuildingCXXobjectlearning_service/CMakeFiles/person_server.dir/srcson_server.cpp.o[36%]LinkingCXXexecutable/home/lonnger/catkin_ws/devel./lib/learning_ser^person-server[36%]Builttargetpersonserver[43%]Builttargetturtle_spawnScanningdependenciesoftargetperson_client[46%]BuildingCXXobjectlearning_service/CMakeFiles/person_cl.ient.dir/srcsonclient.cpp.o[50%]LinkingCXXexecutable/home/lonnger/catkin_ws/devel/lib/learning_ser^person_cltent

3.运行三连roscorerosrunlearning_serviceperson_serverrosrunlearning_serviceperson_clientroscocehttp://lonnger.vlrtu«bm«chlne:11311/—G文件旧«nes«v»«$w«n帮院用startedroslaunchserverhttp://lonnger•vtrtual-naclitne:42M3/ros_co«Rversion

1.

14.9SUMFURYPARAMETERS•/roidlstro:melodic*/rosverston:

1.

14.9MOOES•uto-starttn^newfMSterprocess[Raster]:startedwithptd

[4532]ROS.RASTER.URXvhttpz/Aonnger-vtrtual-Mchtfx:11311/setting/run.tdto1f633O4・—l”・836・0Mc296n8”proce$[ro$out-l:startedwithptd

[4543]startedcoreservice/rotout]rosinstallrosverslonrostnstall^generatorroswsroslaunchroswtflonngertlonner.vtrtuel-Rachtnez-Srosrunlearntng-servtceperson.c-[INFO][

1600953194.676603721]:Callservicetoshowperson[na^e:Toafage:20tsex:l]INFO]

1600953194.679433689]Showpersonresult OKionngertlonnger•virtual•Rachtnw:rosruntearntng_scrvicepersonneltent[info

1600953196.844476657:CallservicetoshowpersonadRe:To«age:20seMSI][INFO160OT

53196.845847M8:Showpersonresult OKlonngertlonns«r«vtrtual-Richlne:rosrunlearntng_servtcepersonneltent[INFO]

1600953198.6120986S4:CHIservicetoshowper$onndRe:Toa•ge:29sex:X][INFO[

1600953198.014198651]:Showpersonresult:OKlonngerflonnser-vtrtual-Rachtne:-$rosrunlearntog-servUeperson-cltent[INFO][160MS

3199.110759778]:servicetoshowperson[nafw:ToR9・g0:2%”X l][INFO][16M9S

3199.11217S672]personresult OKlonngcr4lonnger-virtual-Rachtnez-SJlonnger文件（F）®«（v）»*（s）wa（n«M（H）Xonn9«r9lonn9er-virtual-machine:*/catktn.ws$cdlonngertlonn9er.vlrtu«t-R«chtM-$rosrunledrntng-servtceperson-serve[INFO][INFO][INFO][INFO]fINFO[X6M

953166.944583719]16M

953194.679221303[16M

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1606953198.63266168]

1609953199.111967279ReadytoshowpersoninforRtion.Person:Person:Person:Person:ndne:To«nane:ToRnane:To«nene:Tord9e:26d9«:20age:20dQ«:20sex:ls«x:lsex:lsex:l50%]Builttargetperson_client50%]Builttarget_learning_topic_generate_messages_checkdeps_Person53%]Builttargetlearning_topic_generate_messages_cpp60%]Builttargetperson_subscriber66%]Builttargetvelocity_publisher73%]Builttargetpose_subscriber76%]Builttargetlearning_topic_generate_messages_nodejs83%]Butlttarget*Learning_topic_generate_messages_eus90%]Builttargetlearning_topic_generate_messages_py93%]Butlttargetlea「ntng_toptc_gene「ate_messages_ltsp93%]BuiltRiH1-t-targetlearning_topic_generate_messagesCQLUCCCM1Tuhaf。