Unity与ROS的Service话题介绍

Service话题

首先使用同样的方法可以完成srv文件的导入

服务端的实现。Hierarchy窗口的“+→Create”Empty”创建空GameObject，命名为“AddTwoIntsServer”，添加新的脚本“AddTwoIntsServer”

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连接注册Service服务
        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;
    }
}

客户端的实现。Hierarchy窗口的“+→Create”Empty”创建空GameObject，命名为“AddTwoIntsClient”，添加新的脚本“AddTwoIntsClient”，编辑如下。

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连接注册Service服务
        ros = ROSConnection.GetOrCreateInstance();
        ros.RegisterRosService< AddTwoIntsRequest, AddTwoIntsResponse >("add_two_ints");


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


        // 请求发送
        ros.SendServiceMessage< AddTwoIntsResponse >("add_two_ints", request, AddTwoIntsCallback);
    }


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