一、 定义srv文件
string name
uint8 age
uint8 sex
uint8 unknown = 0
uint8 male = 1
uint8 female = 2
---
string result
二、 在package.xml 中添加功能包依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
三、 在CMakeList.txt 添加编译选项
find_package( ...... message_generation)
add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)
catkin_package( ...... message_runtime)
写完client和server需要配置CMakeList.txt中的编译规则
- 设置需要编译的代码合生成的可执行文件
- 设置链接库
- 添加依赖项
add_executable(person_server src/person_server.cpp)
target_link_libraries(person_server ${catkin_LIBRARIES})
add_dependencies(person_server ${PROJECT_NAME}_gencpp)
add_executable(person_client src/person_client.cpp)
target_link_libraries(person_client ${catkin_LIBRARIES})
add_dependencies(person_client ${PROJECT_NAME}_gencpp)
四、 编译生成语言相关文件
