ros多客户端请求服务

写在前面

1、本文内容
一个节点的多个服务被请求时产生消息阻塞，使用多线程来解决
2、平台
ubuntu1804, ros melodic
3、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/125846107

代码

Service.srv

string client_name
---
string result

service_5.cpp

#include <ros/ros.h>
#include "service_5/Service.h"
#include <thread>
bool func_in=false;

// service回调函数，输入参数req，输出参数res
bool serviceCallback1(service_5::Service::Request  &req,
         			service_5::Service::Response &res)
{
    
    // 显示请求数据
    ROS_INFO("client: name:%s\n", req.client_name.c_str());
    for(int i=0;i<5;++i){
    
        std::cout<<req.client_name<<": "<<i<<std::endl;
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }
    // // sleep(1);
    // std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    
	// 设置反馈数据
	res.result = "OK";
    return true;
}

int main(int argc, char **argv)
{
    
    // ROS节点初始化
    ros::init(argc, argv, "server_5");
    // 创建节点句柄
    ros::NodeHandle n;

    // 创建server，注册回调函数
    ros::ServiceServer service1 = n.advertiseService("/my_server1", serviceCallback1);
    ros::ServiceServer service2 = n.advertiseService("/my_server2", serviceCallback1);
    ros::ServiceServer service3 = n.advertiseService("/my_server3", serviceCallback1);
    ros::ServiceServer service4 = n.advertiseService("/my_server4", serviceCallback1);
    ros::ServiceServer service5 = n.advertiseService("/my_server5", serviceCallback1);
    // // 循环等待回调函数
    ROS_INFO("Ready.");
	
	//方法1
    // ros::MultiThreadedSpinner s(5);
    // s.spin();
    // // ros::spin(s);

	//方法2
    ros::AsyncSpinner spinner(5); // Use4 threads
    spinner.start();
    ros::waitForShutdown();

	//直接spin消息阻塞
    //ros::spin();

    return 0;
}

使用

在不同命令行窗口请求服务

rosservice call /my_server3 "client_name: 'client3'"
rosservice call /my_server2 "client_name: 'client2'"

直接spin消息阻塞，client2等client3完了才开始

多线程结果(方法2)

参考

ROS多线程订阅消息(ros::asyncspinner) https://blog.csdn.net/weixin_28900531/article/details/79431192
rosspin、rosspinOnce及多线程订阅 https://blog.csdn.net/yaked/article/details/50776224