{"id":93,"date":"2026-03-29T20:14:20","date_gmt":"2026-03-29T12:14:20","guid":{"rendered":"https:\/\/374969782.xyz\/?p=93"},"modified":"2026-04-05T18:08:54","modified_gmt":"2026-04-05T10:08:54","slug":"ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%884%ef%bc%89-%e6%9c%8d%e5%8a%a1","status":"publish","type":"post","link":"https:\/\/374969782.xyz\/index.php\/2026\/03\/29\/ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%884%ef%bc%89-%e6%9c%8d%e5%8a%a1\/","title":{"rendered":"ROS2\u5b66\u4e60\u8bb0\u5f55\uff084\uff09-\u670d\u52a1"},"content":{"rendered":"\n
\u670d\u52a1\u662f\u6709\u5e94\u7b54\u7684\u540c\u6b65\u901a\u8baf\uff0c\u7528\u4e8e\u8282\u70b9\u95f4\u7684\u4f60\u95ee\u6211\u7b54\u3002<\/summary>\n

C\/S\u67b6\u6784\uff1a\u5ba2\u6237\u7aef\u9700\u8981\u67d0\u4e9b\u6570\u636e\u65f6\u5411\u670d\u52a1\u5668\u7aef\u53d1\u9001\u8bf7\u6c42\uff0c\u670d\u52a1\u5668\u7aef\u6536\u5230\u8bf7\u6c42\u540e\u5904\u7406\u5e76\u53cd\u9988\u3001\u5e94\u7b54\u3002<\/p>\n\n\n\n

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.srv\u6587\u4ef6\u5b9a\u4e49\u8bf7\u6c42\u548c\u5e94\u7b54\u6570\u636e\u7ed3\u6784<\/p>\n<\/details>\n\n\n\n

<\/p>\n\n\n\n

\u670d\u52a1\u5668\u7aef\u793a\u4f8b\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n\n\n\n

import rclpy                                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                    # ROS2 \u8282\u70b9\u7c7b\nfrom learning_interface.srv import AddTwoInts    # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nclass adderServer(Node):\n    def __init__(self, name):\n        super().__init__(name)                                                           # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.adder_callback)  # \u521b\u5efa\u670d\u52a1\u5668\u5bf9\u8c61\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u670d\u52a1\u540d\u3001\u670d\u52a1\u5668\u56de\u8c03\u51fd\u6570\uff09\uff0c\u63a5\u53e3\u7c7b\u578b\u5373\u6570\u636e\u7ed3\u6784\u7c7b\u578b\n\n    def adder_callback(self, request, response):   # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bf7\u6c42\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        response.sum = request.a + request.b       # \u5b8c\u6210\u52a0\u6cd5\u6c42\u548c\u8ba1\u7b97\uff0c\u5c06\u7ed3\u679c\u653e\u5230\u53cd\u9988\u7684\u6570\u636e\u4e2d\n        self.get_logger().info('Incoming request\\na: %d b: %d' % (request.a, request.b))   # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u5b8c\u6210\u52a0\u6cd5\u6c42\u548c\u8ba1\u7b97\n        return response                          # \u53cd\u9988\u5e94\u7b54\u4fe1\u606f\n\ndef main(args=None):                             # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                        # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = adderServer(\"service_adder_server\")   # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                             # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                          # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                             # \u5173\u95edROS2 Python\u63a5\u53e3<\/code><\/pre>\n\n\n\n
\u7528\u6237\u7aef\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n\n\n\n
import sys\n\nimport rclpy                                  # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                 # ROS2 \u8282\u70b9\u7c7b\nfrom learning_interface.srv import AddTwoInts # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nclass adderClient(Node):\n    def __init__(self, name):\n        super().__init__(name)                                       # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.client = self.create_client(AddTwoInts, 'add_two_ints') # \u521b\u5efa\u670d\u52a1\u5ba2\u6237\u7aef\u5bf9\u8c61\uff08\u670d\u52a1\u63a5\u53e3\u7c7b\u578b\uff0c\u670d\u52a1\u540d\uff09\n        while not self.client.wait_for_service(timeout_sec=1.0):     # \u5faa\u73af\u7b49\u5f85\u670d\u52a1\u5668\u7aef\u6210\u529f\u542f\u52a8\uff0c\u786e\u4fdd\u670d\u52a1\u5668\u7aef\u662f\u5b58\u5728\u7684\uff0c\u4e0d\u7136\u5c06\u6ca1\u6709\u5e94\u7b54\n            self.get_logger().info('service not available, waiting again...') \n        self.request = AddTwoInts.Request()                          # \u521b\u5efa\u670d\u52a1\u8bf7\u6c42\u7684\u6570\u636e\u5bf9\u8c61\n\n    def send_request(self):                                          # \u521b\u5efa\u4e00\u4e2a\u53d1\u9001\u670d\u52a1\u8bf7\u6c42\u7684\u51fd\u6570\n        self.request.a = int(sys.argv[1])\n        self.request.b = int(sys.argv[2])\n        self.future = self.client.call_async(self.request)           # \u5f02\u6b65\u65b9\u5f0f\u53d1\u9001\u670d\u52a1\u8bf7\u6c42\uff0c\u4e0d\u963b\u585e\u8fdb\u7a0b\uff0c\u4e0d\u9700\u8981\u4e00\u76f4\u5361\u5728\u8fd9\u91cc\u7b49\u5f85\n\ndef main(args=None):\n    rclpy.init(args=args)                        # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\uff0c\u83b7\u53d6\u547d\u4ee4\u884c\u8fd0\u884c\u6587\u4ef6\u65f6\u7684\u8f93\u5165\u53c2\u6570\uff0cargs[0]\u662f\u81ea\u8eab\u6587\u4ef6\u540d\n    node = adderClient(\"service_adder_client\")   # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.send_request()                          # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42\n\n    while rclpy.ok():                            # ROS2\u7cfb\u7edf\u6b63\u5e38\u8fd0\u884c\n        rclpy.spin_once(node)                    # \u5faa\u73af\u6267\u884c\u4e00\u6b21\u8282\u70b9\u3002\u6bcf\u6b21spin_once\u4f1a\u67e5\u770b\u4e00\u4e0b\u5e94\u7b54\u961f\u5217\uff0c\u82e5\u961f\u5217\u7a7a\u5219\u7ee7\u7eed\u540e\u7eed\u4ee3\u7801\u7684\u6267\u884c\n\n        if node.future.done():                   # \u6570\u636e\u662f\u5426\u5904\u7406\u5b8c\u6210\n            try:\n                response = node.future.result()  # \u63a5\u6536\u670d\u52a1\u5668\u7aef\u7684\u53cd\u9988\u6570\u636e\n            except Exception as e:\n                node.get_logger().info(\n                    'Service call failed %r' % (e,))\n            else:\n                node.get_logger().info(          # \u5c06\u6536\u5230\u7684\u53cd\u9988\u4fe1\u606f\u6253\u5370\u8f93\u51fa\n                    'Result of add_two_ints: for %d + %d = %d' % \n                    (node.request.a, node.request.b, response.sum))\n            break\n\n    node.destroy_node()                          # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                             # \u5173\u95edROS2 Python\u63a5\u53e3<\/code><\/pre>\n\n\n\n
\u540c\u6837\u7684\uff0c\u6700\u540e\u8fd8\u8981\u53bbsetup.py\u4e2d\u8bbe\u7f6e\u7a0b\u5e8f\u5165\u53e3\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u5728\u547d\u4ee4\u884c\uff0cros2\u4e5f\u6709\u4e00\u4e9b\u7ba1\u7406\u670d\u52a1\u7684\u6307\u4ee4\u3002<\/summary>\n
\u5217\u51fa\u6240\u6709\u670d\u52a1:<\/p>\n\n\n\n
ros2 service list<\/code><\/pre>\n\n\n\n
\u67e5\u770b\u670d\u52a1\u7c7b\u578b:<\/p>\n\n\n\n
ros2 service type <service_name><\/code><\/pre>\n\n\n\n
\u67e5\u770b\u670d\u52a1\u8be6\u60c5:<\/p>\n\n\n\n
ros2 service info <service_name><\/code><\/pre>\n\n\n\n
\u6839\u636e\u7c7b\u578b\u67e5\u627e\u670d\u52a1:<\/p>\n\n\n\n
ros2 service find <type_name><\/code><\/pre>\n\n\n\n
\u67e5\u770b\u6d88\u606f\u63a5\u53e3\u7ed3\u6784:<\/p>\n\n\n\n
ros2 interface show <type_name><\/code><\/pre>\n\n\n\n
\u624b\u52a8\u8c03\u7528\u670d\u52a1:<\/p>\n\n\n\n
ros2 service call <service_name> <service_type> <data><\/code><\/pre>\n\n\n\n
\u76d1\u542c\u670d\u52a1\u901a\u4fe1\u6570\u636e:<\/p>\n\n\n\n
ros2 service echo <service_name><\/code><\/pre>\n\n\n\n
<\/p>\n<\/details>\n\n\n\n
<\/p>\n","protected":false},"excerpt":{"rendered":"
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