ros创建server和client节点通信

一.server.cpp:

二.client.cpp

三.在包下创建srv文件夹，在其中创建一个gps.srv文件：

float32 x
float32 y
---
float32 sum

四.Cmakelist.txt:

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
message_generation
)
add_service_files(
   FILES
   gps.srv
 )
 generate_messages(
   DEPENDENCIES
   std_msgs
 )
 add_executable(server src/server.cpp)
 target_link_libraries(server ${catkin_LIBRARIES} )
add_dependencies(server ${PROJECT_NAME}_gencpp)
add_executable(client src/client.cpp)
add_dependencies(client ${PROJECT_NAME}_gencpp )
 target_link_libraries(client ${catkin_LIBRARIES} )

五.package.xml:

<build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>