{"id":47586,"date":"2025-07-30T08:27:59","date_gmt":"2025-07-30T00:27:59","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/47586.html"},"modified":"2025-07-30T08:27:59","modified_gmt":"2025-07-30T00:27:59","slug":"ros2%e5%ad%a6%e4%b9%a0%e7%ac%94%e8%ae%b08","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/47586.html","title":{"rendered":"ROS2\u5b66\u4e60\u7b14\u8bb08"},"content":{"rendered":"<h2>\u4e00\u3001ROS2\u670d\u52a1\u5165\u95e8<\/h2>\n<h3>1.1 \u7b80\u4ecb<\/h3>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u670d\u52a1\u5206\u4e3a\u201c\u5ba2\u6237\u7aef\u201d\u548c\u201c\u670d\u52a1\u7aef\u201d\u3002<\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u5ba2\u6237\u7aef\u53d1\u9001\u8bf7\u6c42\u7ed9\u670d\u52a1\u7aef&#xff0c;\u670d\u52a1\u7aef\u53ef\u4ee5\u6839\u636e\u5ba2\u6237\u7aef\u7684\u8bf7\u6c42\u505a\u4e00\u4e9b\u5904\u7406&#xff0c;\u7136\u540e\u8fd4\u56de\u7ed3\u679c\u7ed9\u5ba2\u6237\u7aef\u3002\u6240\u4ee5\u670d\u52a1-\u5ba2\u6237\u7aef\u6a21\u578b&#xff0c;\u4e5f\u53ef\u4ee5\u6210\u4e3a\u8bf7\u6c42-\u54cd\u5e94\u6a21\u578b\u3002<\/p>\n<p>\u6ce8\u610f\u4e8b\u9879&#xff1a;<\/p>\n<ul>\n<li>\u540c\u4e00\u4e2a\u670d\u52a1&#xff08;\u540d\u79f0\u76f8\u540c&#xff09;\u6709\u4e14\u53ea\u80fd\u6709\u4e00\u4e2a\u8282\u70b9\u6765\u63d0\u4f9b<\/li>\n<li>\u540c\u4e00\u4e2a\u670d\u52a1\u53ef\u4ee5\u88ab\u591a\u4e2a\u5ba2\u6237\u7aef\u8c03\u7528<\/li>\n<\/ul>\n<h3>1.2\u00a0\u670d\u52a1\u5e38\u7528\u547d\u4ee4<\/h3>\n<h4>\u00a0\u00a0&#xff08;1&#xff09;\u67e5\u770b\u670d\u52a1\u5217\u8868&#xff1a;<\/h4>\n<p> ros2 service list <\/p>\n<h4>\u00a0&#xff08;2&#xff09;\u624b\u52a8\u8c03\u7528\u670d\u52a1&#xff1a;<\/h4>\n<p> ros2 service call &lt;service_name&gt; &lt;service_type &gt; &lt;values&gt; <\/p>\n<p><span style=\"color:#1a439c\">\u00a0 \u00a0 \u00a0 \u00a0 \u4f7f\u7528\u5b9e\u4f8b&#xff1a;<\/span><\/p>\n<p> ros2 service call \/add_two_ints example_interfaces\/srv\/AddTwoInts &#034;{a: 5,b: 10}&#034; <\/p>\n<h4>\u00a0&#xff08;3&#xff09;\u67e5\u770b\u670d\u52a1\u63a5\u53e3\u7c7b\u578b&#xff1a;<\/h4>\n<p> ros2 service type &lt;service_name&gt; <\/p>\n<p><span style=\"color:#1a439c\">\u00a0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u4f7f\u7528\u5b9e\u4f8b&#xff1a;<\/span>\u00a0<\/p>\n<p> ros2 service type \/add_two_ints <\/p>\n<h4>\u00a0\u00a0&#xff08;4&#xff09;\u67e5\u627e\u4f7f\u7528\u67d0\u4e00\u63a5\u53e3\u7684\u670d\u52a1&#xff1a;<\/h4>\n<p> ros2 service find &lt;service_type&gt; <\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<span style=\"color:#1a439c\">\u00a0 \u4f7f\u7528\u5b9e\u4f8b&#xff1a;<\/span><\/p>\n<p> ros2 service find example_interfaces\/srv\/AddTwoInts <\/p>\n<p>\u5b66\u4e60&#xff1a;\u3010ROS2\u673a\u5668\u4eba\u5165\u95e8\u5230\u5b9e\u6218\u3011ROS2\u670d\u52a1\u5165\u95e8_\u9c7c\u9999ros-CSDN\u535a\u5ba2<\/p>\n<h2>\u4e8c\u3001\u670d\u52a1\u4e4bRCLCPP\u5b9e\u73b0<\/h2>\n<h3>2.1 \u521b\u5efa\u529f\u80fd\u5305\u548c\u8282\u70b9<\/h3>\n<h4>&#xff08;1&#xff09;\u6253\u5f00\u7ec8\u7aef<\/h4>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u5728<span style=\"color:#0d0016\"><span style=\"background-color:#d7d8d9\">chapt3_ws\/src\/<\/span><\/span>\u76ee\u5f55\u4e0b\u6253\u5f00\u7ec8\u7aef&#xff0c;\u521b\u5efa\u529f\u80fd\u5305&#xff1a;<\/p>\n<p>ros2 pkg create example_service_rclcpp &#8211;build-type ament_cmake &#8211;dependencies rclcpp <\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u521b\u5efa\u8282\u70b9&#xff1a;<\/p>\n<p>cd example_service_rclcpp\/<br \/>\ntouch service_server_01.cpp<br \/>\ntouch service_client_01.cpp <\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u7f16\u5199\u670d\u52a1\u7aef\u4ee3\u7801&#xff1a;<\/p>\n<p>sudo nano service_server_01.cpp<br \/>\n#include &#034;rclcpp\/rclcpp.hpp&#034;<\/p>\n<p>class ServiceServer01 : public rclcpp::Node {<br \/>\npublic:<br \/>\n  ServiceServer01(std::string name) : Node(name) {<br \/>\n    RCLCPP_INFO(this-&gt;get_logger(), &#034;\u8282\u70b9\u5df2\u542f\u52a8&#xff1a;%s.&#034;, name.c_str());<br \/>\n  }<\/p>\n<p>private:<br \/>\n};<\/p>\n<p>int main(int argc, char** argv) {<br \/>\n  rclcpp::init(argc, argv);<br \/>\n  auto node &#061; std::make_shared&lt;ServiceServer01&gt;(&#034;service_server_01&#034;);<br \/>\n  rclcpp::spin(node);<br \/>\n  rclcpp::shutdown();<br \/>\n  return 0;<br \/>\n}<\/p>\n<p>\u00a0\u00a0 \u00a0 \u00a0 \u00a0 \u7f16\u5199\u5ba2\u6237\u7aef\u4ee3\u7801&#xff1a;<\/p>\n<p>sudo nano service_client_01.cpp<br \/>\n#include &#034;rclcpp\/rclcpp.hpp&#034;<\/p>\n<p>class ServiceClient01 : public rclcpp::Node {<br \/>\npublic:<br \/>\n  \/\/ \u6784\u9020\u51fd\u6570,\u6709\u4e00\u4e2a\u53c2\u6570\u4e3a\u8282\u70b9\u540d\u79f0<br \/>\n  ServiceClient01(std::string name) : Node(name) {<br \/>\n    RCLCPP_INFO(this-&gt;get_logger(), &#034;\u8282\u70b9\u5df2\u542f\u52a8&#xff1a;%s.&#034;, name.c_str());<br \/>\n  }<br \/>\nprivate:<br \/>\n};<\/p>\n<p>int main(int argc, char** argv) {<br \/>\n  rclcpp::init(argc, argv);<br \/>\n  \/*\u521b\u5efa\u5bf9\u5e94\u8282\u70b9\u7684\u5171\u4eab\u6307\u9488\u5bf9\u8c61*\/<br \/>\n  auto node &#061; std::make_shared&lt;ServiceClient01&gt;(&#034;service_client_01&#034;);<br \/>\n  \/* \u8fd0\u884c\u8282\u70b9&#xff0c;\u5e76\u68c0\u6d4b\u9000\u51fa\u4fe1\u53f7*\/<br \/>\n  rclcpp::spin(node);<br \/>\n  rclcpp::shutdown();<br \/>\n  return 0;<br \/>\n} <\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u4fee\u6539CMakeLists.txt&#xff0c;\u5728\u6700\u540e\u52a0\u5165\u4e00\u4e0b\u4ee3\u7801&#xff1a;<\/p>\n<p>cd ..<br \/>\nsudo nano CMakeLists.txt<br \/>\nadd_executable(service_client_01 src\/service_client_01.cpp)<br \/>\nament_target_dependencies(service_client_01 rclcpp)<\/p>\n<p>add_executable(service_server_01 src\/service_server_01.cpp)<br \/>\nament_target_dependencies(service_server_01 rclcpp)<\/p>\n<p>install(TARGETS<br \/>\n  service_server_01<br \/>\n  DESTINATION lib\/${PROJECT_NAME}<br \/>\n)<\/p>\n<p>install(TARGETS<br \/>\n  service_client_01<br \/>\n  DESTINATION lib\/${PROJECT_NAME}<br \/>\n) <\/p>\n<h4>&#xff08;2&#xff09;\u7f16\u8bd1\u548c\u6d4b\u8bd5<\/h4>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u7f16\u8bd1&#xff1a;<\/p>\n<p>cd chapt3\/chapt3_ws\/<br \/>\ncolcon build &#8211;packages-select example_service_rclcpp<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u8fd0\u884c service_server_01&#xff1a;<\/p>\n<p>source install\/setup.bash<br \/>\nros2 run example_service_rclcpp service_server_01 <\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"113\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730002755-6889670beeda6.png\" width=\"1069\" \/><\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u5728\u5de5\u4f5c\u7a7a\u95f4\u6253\u5f00\u65b0\u7ec8\u7aef&#xff0c;\u00a0\u8fd0\u884c service_client_01&#xff1a;<\/p>\n<p>source install\/setup.bash<br \/>\nros2 run example_service_rclcpp service_client_01 <\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"114\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730002756-6889670c7c784.png\" width=\"1066\" \/><\/p>\n<h3>2.2\u00a0\u00a0\u670d\u52a1\u7aef\u5b9e\u73b0<\/h3>\n<h4>&#xff08;1&#xff09;\u5bfc\u5165\u63a5\u53e3<\/h4>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u4e24\u6570\u76f8\u52a0\u6211\u4eec\u9700\u8981\u5229\u7528ROS2\u81ea\u5e26\u7684<span style=\"color:#be191c\"><span style=\"background-color:#fbd4d0\">example_interfaces<\/span><\/span>\u63a5\u53e3&#xff0c;\u4f7f\u7528\u547d\u4ee4\u884c\u53ef\u4ee5\u67e5\u770b\u8fd9\u4e2a\u63a5\u53e3\u7684\u5b9a\u4e49\u3002<\/p>\n<p>ros2 interface show example_interfaces\/srv\/AddTwoInts <\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"122\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730002757-6889670d208cb.png\" width=\"1037\" \/><\/p>\n<\/p>\n<p>ament_cmake\u7c7b\u578b\u529f\u80fd\u5305\u5bfc\u5165\u6d88\u606f\u63a5\u53e3\u5206\u4e3a\u4e09\u6b65&#xff1a;<\/p>\n<li>\u5728CMakeLists.txt\u4e2d\u5bfc\u5165&#xff0c;\u5177\u4f53\u662f\u5148<span style=\"color:#be191c\"><span style=\"background-color:#fbd4d0\">find_packages<\/span><\/span>\u518d<span style=\"color:#be191c\"><span style=\"background-color:#fbd4d0\">ament_target_dependencies<\/span><\/span>\u3002<\/li>\n<li>\u5728packages.xml\u4e2d\u5bfc\u5165&#xff0c;\u5177\u4f53\u662f\u6dfb\u52a0<span style=\"color:#be191c\"><span style=\"background-color:#fbd4d0\">depend<\/span><\/span>\u6807\u7b7e\u5e76\u5c06\u6d88\u606f\u63a5\u53e3\u5199\u5165\u3002<\/li>\n<li>\u5728\u4ee3\u7801\u4e2d\u5bfc\u5165&#xff0c;C&#043;&#043;\u4e2d\u662f<span style=\"color:#be191c\"><span style=\"background-color:#fbd4d0\">#include&#034;\u6d88\u606f\u529f\u80fd\u5305\/xxx\/xxx.hpp&#034;<\/span><\/span>\u3002<\/li>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u4fee\u6539CMakeLists.txt&#xff1a;<\/p>\n<p>cd chapt5_ws\/src\/example_server_rclcpp\/<br \/>\nsudo nano CMakeLists.txt<br \/>\n# \u8fd9\u91cc\u6211\u4eec\u4e00\u6b21\u6027\u628a\u670d\u52a1\u7aef\u548c\u5ba2\u6237\u7aef\u5bf9example_interfaces\u7684\u4f9d\u8d56\u90fd\u52a0\u4e0a<br \/>\nfind_package(example_interfaces REQUIRED) # \u65b0\u589e<\/p>\n<p>add_executable(service_client_01 src\/service_client_01.cpp)<br \/>\nament_target_dependencies(service_client_01 rclcpp example_interfaces) # \u65b0\u589e<\/p>\n<p>add_executable(service_server_01 src\/service_server_01.cpp)<br \/>\nament_target_dependencies(service_server_01 rclcpp example_interfaces) # \u65b0\u589e <\/p>\n<p>\u00a0\u00a0 \u00a0 \u00a0 \u00a0 \u4fee\u6539packages.xml&#xff1a;<\/p>\n<p> sudo nano package.xml<br \/>\n&lt;depend&gt;example_interfaces&lt;\/depend&gt; <\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u4fee\u6539service_server_01.cpp&#xff1a;<\/p>\n<p>cd src\/<br \/>\nsudo nano service_server_01.cpp<br \/>\n#include &#034;example_interfaces\/srv\/add_two_ints.hpp&#034; <\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u4fee\u6539service_client_01.cpp&#xff1a;<\/p>\n<p>sudo nano service_client_01.cpp<br \/>\n#include &#034;example_interfaces\/srv\/add_two_ints.hpp&#034; <\/p>\n<h4>\u00a0&#xff08;2&#xff09;\u7f16\u5199\u4ee3\u7801<\/h4>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u7ee7\u7eed\u7f16\u5199service_server_01.cpp&#xff1a;<\/p>\n<p>sudo nano service_server_01.cpp<br \/>\n#include &#034;example_interfaces\/srv\/add_two_ints.hpp&#034;<br \/>\n#include &#034;rclcpp\/rclcpp.hpp&#034;<\/p>\n<p>class ServiceServer01 : public rclcpp::Node {<br \/>\npublic:<br \/>\n  ServiceServer01(std::string name) : Node(name) {<br \/>\n    RCLCPP_INFO(this-&gt;get_logger(), &#034;\u8282\u70b9\u5df2\u542f\u52a8&#xff1a;%s.&#034;, name.c_str());<br \/>\n    \/\/ \u521b\u5efa\u670d\u52a1<br \/>\n    add_ints_server_ &#061;<br \/>\n      this-&gt;create_service&lt;example_interfaces::srv::AddTwoInts&gt;(<br \/>\n        &#034;add_two_ints_srv&#034;,<br \/>\n        std::bind(&amp;ServiceServer01::handle_add_two_ints, this,<br \/>\n                  std::placeholders::_1, std::placeholders::_2));<br \/>\n  }<\/p>\n<p>private:<br \/>\n  \/\/ \u58f0\u660e\u4e00\u4e2a\u670d\u52a1<br \/>\n  rclcpp::Service&lt;example_interfaces::srv::AddTwoInts&gt;::SharedPtr<br \/>\n    add_ints_server_;<\/p>\n<p>  \/\/ \u6536\u5230\u8bf7\u6c42\u7684\u5904\u7406\u51fd\u6570<br \/>\n  void handle_add_two_ints(<br \/>\n    const std::shared_ptr&lt;example_interfaces::srv::AddTwoInts::Request&gt; request,<br \/>\n    std::shared_ptr&lt;example_interfaces::srv::AddTwoInts::Response&gt; response) {<br \/>\n    RCLCPP_INFO(this-&gt;get_logger(), &#034;\u6536\u5230a: %ld b: %ld&#034;, request-&gt;a,<br \/>\n                request-&gt;b);<br \/>\n    response-&gt;sum &#061; request-&gt;a &#043; request-&gt;b;<br \/>\n  };<br \/>\n};<\/p>\n<p>int main(int argc, char **argv) {<br \/>\n        rclcpp::init(argc, argv);<br \/>\n        auto node &#061; std::make_shared&lt;ServiceServer01&gt;(&#034;service_server_01&#034;);<br \/>\n        rclcpp::spin(node);<br \/>\n        rclcpp::shutdown();<br \/>\n        return 0;<br \/>\n} <\/p>\n<p>\u00a0\u00a0 \u00a0 \u00a0 \u00a0 \u7ee7\u7eed\u7f16\u5199service_client_01.cpp&#xff1a;<\/p>\n<p>sudo nano service_client_01.cpp<br \/>\n#include &#034;rclcpp\/rclcpp.hpp&#034;<br \/>\n#include &#034;example_interfaces\/srv\/add_two_ints.hpp&#034;<\/p>\n<p>class ServiceClient01 : public rclcpp::Node {<br \/>\npublic:<br \/>\n  \/\/ \u6784\u9020\u51fd\u6570,\u6709\u4e00\u4e2a\u53c2\u6570\u4e3a\u8282\u70b9\u540d\u79f0<br \/>\n  ServiceClient01(std::string name) : Node(name) {<br \/>\n    RCLCPP_INFO(this-&gt;get_logger(), &#034;\u8282\u70b9\u5df2\u542f\u52a8&#xff1a;%s.&#034;, name.c_str());<br \/>\n    \/\/ \u521b\u5efa\u5ba2\u6237\u7aef<br \/>\n    client_ &#061; this-&gt;create_client&lt;example_interfaces::srv::AddTwoInts&gt;(&#034;add_two_ints_srv&#034;);<br \/>\n  }<\/p>\n<p>  void send_request(int a, int b) {<br \/>\n    RCLCPP_INFO(this-&gt;get_logger(), &#034;\u8ba1\u7b97%d&#043;%d&#034;, a, b);<\/p>\n<p>    \/\/ 1.\u7b49\u5f85\u670d\u52a1\u7aef\u4e0a\u7ebf<br \/>\n    while (!client_-&gt;wait_for_service(std::chrono::seconds(1))) {<br \/>\n      \/\/\u7b49\u5f85\u65f6\u68c0\u6d4brclcpp\u7684\u72b6\u6001<br \/>\n      if (!rclcpp::ok()) {<br \/>\n        RCLCPP_ERROR(this-&gt;get_logger(), &#034;\u7b49\u5f85\u670d\u52a1\u7684\u8fc7\u7a0b\u4e2d\u88ab\u6253\u65ad&#8230;&#034;);<br \/>\n        return;<br \/>\n      }<br \/>\n      RCLCPP_INFO(this-&gt;get_logger(), &#034;\u7b49\u5f85\u670d\u52a1\u7aef\u4e0a\u7ebf\u4e2d&#034;);<br \/>\n    }<\/p>\n<p>    \/\/ 2.\u6784\u9020\u8bf7\u6c42\u7684<br \/>\n    auto request &#061;<br \/>\n      std::make_shared&lt;example_interfaces::srv::AddTwoInts_Request&gt;();<br \/>\n    request-&gt;a &#061; a;<br \/>\n    request-&gt;b &#061; b;<\/p>\n<p>    \/\/ 3.\u53d1\u9001\u5f02\u6b65\u8bf7\u6c42&#xff0c;\u7136\u540e\u7b49\u5f85\u8fd4\u56de&#xff0c;\u8fd4\u56de\u65f6\u8c03\u7528\u56de\u8c03\u51fd\u6570<br \/>\n    client_-&gt;async_send_request(<br \/>\n      request, std::bind(&amp;ServiceClient01::result_callback_, this,<br \/>\n                         std::placeholders::_1));<br \/>\n  };<\/p>\n<p>private:<br \/>\n  \/\/ \u58f0\u660e\u5ba2\u6237\u7aef<br \/>\n  rclcpp::Client&lt;example_interfaces::srv::AddTwoInts&gt;::SharedPtr client_;<\/p>\n<p>  void result_callback_(<br \/>\n    rclcpp::Client&lt;example_interfaces::srv::AddTwoInts&gt;::SharedFuture<br \/>\n      result_future) {<br \/>\n    auto response &#061; result_future.get();<br \/>\n    RCLCPP_INFO(this-&gt;get_logger(), &#034;\u8ba1\u7b97\u7ed3\u679c&#xff1a;%ld&#034;, response-&gt;sum);<br \/>\n  }<br \/>\n};<\/p>\n<p>int main(int argc, char **argv){<br \/>\n  rclcpp::init(argc, argv);<br \/>\n  auto node &#061; std::make_shared&lt;ServiceClient01&gt;(&#034;service_client_01&#034;);<br \/>\n  \/\/\u589e\u52a0\u8fd9\u4e00\u884c&#xff0c;node-&gt;send_request(5, 6);&#xff0c;\u8ba1\u7b975&#043;6\u7ed3\u679c<br \/>\n  node-&gt;send_request(5, 6);<br \/>\n  rclcpp::spin(node);<br \/>\n  rclcpp::shutdown();<br \/>\n  return 0;<br \/>\n}<\/p>\n<h4>&#xff08;3&#xff09;\u7f16\u8bd1\u548c\u6d4b\u8bd5<\/h4>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u5728\u5de5\u4f5c\u7a7a\u95f4\u76ee\u5f55\u4e0b\u6253\u5f00\u7ec8\u7aef\u8fdb\u884c\u7f16\u8bd1&#xff1a;<\/p>\n<p>colcon build &#8211;packages-select example_service_rclcpp <\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u8fd0\u884c\u5ba2\u6237\u7aef&#xff1a;<\/p>\n<p>source install\/setup.bash<br \/>\nros2 run example_service_rclcpp service_client_01 <\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u5728\u5de5\u4f5c\u7a7a\u95f4\u76ee\u5f55\u4e0b\u6253\u5f00\u65b0\u7ec8\u7aef\u8fd0\u884c\u670d\u52a1\u7aef&#xff1a;<\/p>\n<p>source install\/setup.bash<br \/>\nros2 run example_service_rclcpp service_server_01 <\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"587\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730002757-6889670d8ff80.png\" width=\"1066\" \/><\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"147\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730002758-6889670e34f4e.png\" width=\"1067\" \/><\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"362\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730002758-6889670e67568.png\" width=\"860\" \/><\/p>\n<p>\u5b66\u4e60&#xff1a;\u3010ROS2\u673a\u5668\u4eba\u5165\u95e8\u5230\u5b9e\u6218\u3011\u670d\u52a1\u4e4bRCLCPP\u5b9e\u73b0-CSDN\u535a\u5ba2<\/p>\n<p>\u5b66\u4e60rclcpp\u670d\u52a1&#xff1a;rclcpp\u6587\u6863<\/p>\n<\/p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb416\u6b21\uff0c\u70b9\u8d5e8\u6b21\uff0c\u6536\u85cf16\u6b21\u3002\u672c\u6587\u4ecb\u7ecd\u4e86ROS2\u670d\u52a1\u7684\u57fa\u672c\u6982\u5ff5\u548cRCLCPP\u5b9e\u73b0\u65b9\u6cd5\u3002\u670d\u52a1\u6a21\u578b\u5305\u542b\u5ba2\u6237\u7aef\u548c\u670d\u52a1\u7aef\uff0c\u91c7\u7528\u8bf7\u6c42-\u54cd\u5e94\u6a21\u5f0f\uff0c\u540c\u4e00\u670d\u52a1\u53ea\u80fd\u7531\u4e00\u4e2a\u8282\u70b9\u63d0\u4f9b\u4f46\u53ef\u88ab\u591a\u4e2a\u5ba2\u6237\u7aef\u8c03\u7528\u3002\u6587\u7ae0\u8be6\u7ec6\u8bb2\u89e3\u4e86\u670d\u52a1\u5e38\u7528\u547d\u4ee4\u3001\u529f\u80fd\u5305\u521b\u5efa\u3001\u8282\u70b9\u5b9e\u73b0\u8fc7\u7a0b\uff0c\u5e76\u901a\u8fc7AddTwoInts\u793a\u4f8b\u6f14\u793a\u4e86\u670d\u52a1\u7aef\u548c\u5ba2\u6237\u7aef\u7684\u4ee3\u7801\u7f16\u5199\u3002\u670d\u52a1\u7aef\u901a\u8fc7create_service\u521b\u5efa\u670d\u52a1\u5e76\u5b9e\u73b0\u5904\u7406\u51fd\u6570\uff0c\u5ba2\u6237\u7aef\u4f7f\u7528create_client\u521b\u5efa\u8fde\u63a5\u5e76\u53d1\u9001\u5f02\u6b65\u8bf7\u6c42\u3002\u6700\u540e\u901a\u8fc7\u7f16\u8bd1\u6d4b\u8bd5\u9a8c\u8bc1\u4e86\u670d\u52a1\u529f\u80fd\u3002<\/p>\n","protected":false},"author":2,"featured_media":47580,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[1966,2968,371,1897,4570,305],"topic":[],"class_list":["post-47586","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-ros","tag-ros2","tag-371","tag-1897","tag-slam","tag-305"],"yoast_head":"<!-- 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