Unity與ROS的Service話題介紹

Service話題

首先使用同樣的方法可以完成srv文件的導(dǎo)入

服務(wù)端的實現(xiàn)。Hierarchy窗口的“+→Create”Empty”創(chuàng)建空GameObject，命名為“AddTwoIntsServer”，添加新的腳本“AddTwoIntsServer”

复制using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
using Unity.Robotics.ROSTCPConnector.ROSGeometry;
using AddTwoIntsRequest = RosMessageTypes.Hello.AddTwoIntsRequest;
using AddTwoIntsResponse = RosMessageTypes.Hello.AddTwoIntsResponse;


public class AddTwoIntsServer : MonoBehaviour
{
    void Start()
{
        // 向ROS連接注冊Service服務(wù)
        ROSConnection.GetOrCreateInstance().ImplementService<
            AddTwoIntsRequest, AddTwoIntsResponse >("add_two_ints", AddTwoIntsCallback);
    }


    private AddTwoIntsResponse AddTwoIntsCallback(AddTwoIntsRequest request)
{
        AddTwoIntsResponse response = new AddTwoIntsResponse();
        response.sum = request.a + request.b;
        return response;
    }
}

客戶端的實現(xiàn)。Hierarchy窗口的“+→Create”Empty”創(chuàng)建空GameObject，命名為“AddTwoIntsClient”，添加新的腳本“AddTwoIntsClient”，編輯如下。

复制using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
using AddTwoIntsRequest = RosMessageTypes.Hello.AddTwoIntsRequest;
using AddTwoIntsResponse = RosMessageTypes.Hello.AddTwoIntsResponse;


public class AddTwoIntsClient : MonoBehaviour
{
    ROSConnection ros;


    void Start()
{
        // 向ROS連接注冊Service服務(wù)
        ros = ROSConnection.GetOrCreateInstance();
        ros.RegisterRosService< AddTwoIntsRequest, AddTwoIntsResponse >("add_two_ints");


        // 請求生成
        AddTwoIntsRequest request = new AddTwoIntsRequest(1, 2);


        // 請求發(fā)送
        ros.SendServiceMessage< AddTwoIntsResponse >("add_two_ints", request, AddTwoIntsCallback);
    }


    void AddTwoIntsCallback(AddTwoIntsResponse response)
{
        print("1 + 2 = " + response.sum);
    }
}