1. 创建package

  1. ros2 pkg create --build-type ament_python turtlesim_service

可以修改package.xml文件如下信息

  1. <description>C++ client server tutorial</description>
  2. <maintainer email="you@email.com">Your Name</maintainer>
  3. <license>Apache License 2.0</license>

2. 编写代码

2.1 节点代码

  1. 在package的turtlesim_service文件夹下创建turtlesim_service.py文件,代码如下 ```python import sys from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QHBoxLayout, QPushButton, QLineEdit, QCheckBox import rclpy from rclpy.node import Node from std_srvs.srv import Empty from turtlesim.srv import Kill, Spawn, SetPen, TeleportAbsolute, TeleportRelative

class MainWindow(QWidget): def init(self, node): super(MainWindow, self).init()

  1.     self.node = node
  2.     self.clear_ser = self.node.create_client(Empty, '/clear')
  3.     self.reset_ser = self.node.create_client(Empty, '/reset')
  4.     self.spawn_ser = self.node.create_client(Spawn, '/spawn')
  5.     self.kill_ser = self.node.create_client(Kill, '/kill')
  7.     layout = QVBoxLayout()
  8.     self.setLayout(layout)
  10.     # part1
  11.     clear_btn = QPushButton('清理画布')
  12.     # part2
  13.     reset_btn = QPushButton('重置')
  14.     # part3
  15.     layout1 = QHBoxLayout()
  16.     self.create_x = QLineEdit()
  17.     self.create_y = QLineEdit()
  18.     self.create_theta = QLineEdit()
  19.     self.create_name = QLineEdit()
  20.     self.create_x.setPlaceholderText('x坐标')
  21.     self.create_y.setPlaceholderText('y坐标')
  22.     self.create_theta.setPlaceholderText('角度')
  23.     self.create_name.setPlaceholderText('名字')
  24.     create_btn = QPushButton('创建小乌龟')
  25.     layout1.addWidget(self.create_x)
  26.     layout1.addWidget(self.create_y)
  27.     layout1.addWidget(self.create_theta)
  28.     layout1.addWidget(self.create_name)
  29.     layout1.addWidget(create_btn)
  30.     # part4
  31.     layout2 = QHBoxLayout()
  32.     self.kill_name = QLineEdit()
  33.     self.kill_name.setPlaceholderText('名字')
  34.     kill_btn = QPushButton('杀死小乌龟')
  35.     layout2.addWidget(self.kill_name)
  36.     layout2.addWidget(kill_btn)
  37.     # part5
  38.     layout3 = QHBoxLayout()
  39.     self.pen_name = QLineEdit()
  40.     self.pen_red = QLineEdit()
  41.     self.pen_green = QLineEdit()
  42.     self.pen_blue = QLineEdit()
  43.     self.pen_width = QLineEdit()
  44.     self.pen_close = QCheckBox('关闭')
  45.     self.pen_name.setPlaceholderText('名字')
  46.     self.pen_red.setPlaceholderText('红')
  47.     self.pen_green.setPlaceholderText('绿')
  48.     self.pen_blue.setPlaceholderText('蓝')
  49.     self.pen_width.setPlaceholderText('粗细')
  50.     pen_btn = QPushButton('设置画笔')
  51.     layout3.addWidget(self.pen_name)
  52.     layout3.addWidget(self.pen_red)
  53.     layout3.addWidget(self.pen_green)
  54.     layout3.addWidget(self.pen_blue)
  55.     layout3.addWidget(self.pen_width)
  56.     layout3.addWidget(self.pen_close)
  57.     layout3.addWidget(pen_btn)
  58.     # part6
  59.     layout4 = QHBoxLayout()
  60.     self.abs_name = QLineEdit()
  61.     self.abs_x = QLineEdit()
  62.     self.abs_y = QLineEdit()
  63.     self.abs_theta = QLineEdit()
  64.     self.abs_x.setPlaceholderText('x坐标')
  65.     self.abs_y.setPlaceholderText('y坐标')
  66.     self.abs_theta.setPlaceholderText('角度')
  67.     self.abs_name.setPlaceholderText('名字')
  68.     abs_btn = QPushButton('设置绝对位置')
  69.     layout4.addWidget(self.abs_name)
  70.     layout4.addWidget(self.abs_x)
  71.     layout4.addWidget(self.abs_y)
  72.     layout4.addWidget(self.abs_theta)
  73.     layout4.addWidget(self.abs_theta)
  74.     layout4.addWidget(abs_btn)
  75.     # part7
  76.     layout5 = QHBoxLayout()
  77.     self.rel_name = QLineEdit()
  78.     self.rel_linear = QLineEdit()
  79.     self.rel_angular = QLineEdit()
  80.     self.rel_name.setPlaceholderText('名字')
  81.     self.rel_linear.setPlaceholderText('线速度')
  82.     self.rel_angular.setPlaceholderText('角速度')
  83.     rel_btn = QPushButton('设置相对位置')
  84.     layout5.addWidget(self.rel_name)
  85.     layout5.addWidget(self.rel_linear)
  86.     layout5.addWidget(self.rel_angular)
  87.     layout5.addWidget(rel_btn)
  88.     # all
  89.     layout.addWidget(clear_btn)
  90.     layout.addWidget(reset_btn)
  91.     layout.addLayout(layout1)
  92.     layout.addLayout(layout2)
  93.     layout.addLayout(layout3)
  94.     layout.addLayout(layout4)
  95.     layout.addLayout(layout5)
  97.     # click event
  98.     clear_btn.clicked.connect(self.clear)
  99.     reset_btn.clicked.connect(self.reset)
  100.     create_btn.clicked.connect(self.create_turtle)
  101.     kill_btn.clicked.connect(self.kill_turtle)
  102.     pen_btn.clicked.connect(self.set_pen)
  103.     abs_btn.clicked.connect(self.set_abs_pos)
  104.     rel_btn.clicked.connect(self.set_rel_pos)
  106. def clear(self):
  107.     req = Empty.Request()
  108.     self.clear_ser.call_async(req)
  110. def reset(self):
  111.     req = Empty.Request()
  112.     self.reset_ser.call_async(req)
  114. def create_turtle(self):
  115.     req = Spawn.Request()
  116.     req.name = self.create_name.text()
  117.     req.x = float(self.create_x.text())
  118.     req.y = float(self.create_y.text())
  119.     req.theta = float(self.create_theta.text())
  120.     self.spawn_ser.call_async(req)
  122. def kill_turtle(self):
  123.     req = Kill.Request()
  124.     req.name = self.create_name.text()
  125.     self.kill_ser.call_async(req)
  127. def set_pen(self):
  128.     self.set_pen_ser = self.node.create_client(SetPen, f'/{self.pen_name.text()}/set_pen')
  129.     req = SetPen.Request()
  130.     req.r = int(self.pen_red.text())
  131.     req.g = int(self.pen_green.text())
  132.     req.b = int(self.pen_blue.text())
  133.     req.width = int(self.pen_width.text())
  134.     req.off = 1 if self.pen_close.isChecked() else 0
  135.     self.set_pen_ser.call_async(req)
  137. def set_abs_pos(self):
  138.     self.abs_pos_ser = self.node.create_client(TeleportAbsolute, f'/{self.abs_name.text()}/teleport_absolute')
  139.     req = TeleportAbsolute.Request()
  140.     req.x = float(self.abs_x.text())
  141.     req.y = float(self.abs_y.text())
  142.     req.theta = float(self.abs_theta.text())
  143.     self.abs_pos_ser.call_async(req)
  145. def set_rel_pos(self):
  146.     self.rel_pos_ser = self.node.create_client(TeleportRelative, f'/{self.rel_name.text()}/teleport_relative')
  147.     req = TeleportRelative.Request()
  148.     req.linear = float(self.rel_linear.text())
  149.     req.angular = float(self.rel_angular.text())
  150.     self.rel_pos_ser.call_async(req)

def main(): rclpy.init() node = Node(‘turtlesimcontrol’) app = QApplication(sys.argv) window = MainWindow(node) window.show() sys.exit(app.exec())

if name == ‘main‘: main()

  1. <a name="FRPUu"></a>
  2. ## 2.2 添加配置
  4. 1. 打开setup.py文件,在console_scripts节点下添加配置
  5. ```python
  6. 'turtlesim_service = turtlesim_service.turtlesim_service:main',

3. 编译工程

  1. colcon build

4. 运行节点

  1. source install/setup.bash
  2. ros2 run turtlesim_service turtlesim_service