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本指南将详细介绍如何创建两个 ROS2 Python 节点（一个客户端和一个服务器），通过发布/订阅机制实现相互通信，完成数字计算请求与结果返回的功能。我们将使用 std_msgs/String 消息类型来传递数据。

1. 创建 ROS2 Python 包

首先，使用 ros2 pkg create 命令创建两个独立的 Python 包，分别用于客户端和服务器。

# 创建客户端包
ros2 pkg create calculator_client_py \--build-type ament_python \--dependencies rclpy \--node-name calculator_client_node# 创建服务器包
ros2 pkg create calculator_server_py \--build-type ament_python \--dependencies rclpy \--node-name calculator_server_node

命令选项说明：

• --build-type ament_python：指定该包为 Python 包，并使用 ament 构建系统。
• --dependencies rclpy：声明依赖 rclpy 库，这是 Python 版本的 ROS2 客户端库。
• --node-name：在包内创建一个名为 calculator_client_node.py 或 calculator_server_node.py 的基础节点文件。

2. 实现客户端节点 (calculator_client_node.py)

客户端负责接收用户输入，将计算请求（两个数字和一个运算符）打包成字符串消息，并发布到 calculation_request 话题。同时，它订阅 calculation_response 话题以接收服务器的计算结果。

[calculator_client_node.py]
#!/usr/bin/env python3import rclpy
from rclpy.node import Node
from std_msgs.msg import Stringclass CalculatorClient(Node):def __init__(self):super().__init__('calculator_client')# 创建发布者，发布请求到 'calculation_request' 主题self.publisher_ = self.create_publisher(String, 'calculation_request', 10)# 创建订阅者，订阅来自 'calculation_response' 主题的响应self.subscription = self.create_subscription(String,'calculation_response',self.listener_callback,10)self.subscription  # 防止未使用变量警告def listener_callback(self, msg):# 回调函数：当收到计算结果时被调用self.get_logger().info(f'Received result: {msg.data}')def send_request(self, num1, operator, num2):# 发送请求函数msg = String()# 格式: "num1,operator,num2"msg.data = f"{num1},{operator},{num2}"self.publisher_.publish(msg)self.get_logger().info(f'Sent request: {num1} {operator} {num2}')def main(args=None):rclpy.init(args=args)calculator_client = CalculatorClient()print("Supported operations: +, -, *, /")try:while rclpy.ok():# 获取用户输入user_input = input("Enter calculation (e.g., '3 + 5') or 'exit' to quit: ")if user_input.lower() == 'exit':breaktry:parts = user_input.split()if len(parts) != 3:print("Invalid input format. Please use 'number operator number'.")continuenum1_str, operator, num2_str = parts# 验证运算符if operator not in ['+', '-', '*', '/']:print(f"Unsupported operator '{operator}'. Please use +, -, *, or /.")continue# 尝试转换为浮点数num1 = float(num1_str)num2 = float(num2_str)# 发送请求calculator_client.send_request(num1, operator, num2)except ValueError:print("Invalid input. Please ensure numbers are valid.")continue# 旋转一次以处理可能的回调rclpy.spin_once(calculator_client, timeout_sec=0.1)except KeyboardInterrupt:print("\nShutting down client...")finally:calculator_client.destroy_node()rclpy.shutdown()if __name__ == '__main__':main()

3. 实现服务器节点 (calculator_server_node.py)

服务器节点订阅 calculation_request 话题。当收到请求时，它解析消息，执行计算，并将结果（或错误信息）发布到 calculation_response 话题。

[calculator_server_node.py]
#!/usr/bin/env python3import rclpy
from rclpy.node import Node
from std_msgs.msg import Stringclass CalculatorServer(Node):def __init__(self):super().__init__('calculator_server')# 创建订阅者，订阅 'calculation_request' 主题的请求self.subscription = self.create_subscription(String,'calculation_request',self.listener_callback,10)self.subscription  # 防止未使用变量警告# 创建发布者，发布响应到 'calculation_response' 主题self.publisher_ = self.create_publisher(String, 'calculation_response', 10)def listener_callback(self, msg):# 回调函数：当收到计算请求时被调用try:# 解析收到的数据 "num1,operator,num2"data_str = msg.datanum1_str, operator, num2_str = data_str.split(',')num1 = float(num1_str)num2 = float(num2_str)# 执行计算if operator == '+':result = num1 + num2elif operator == '-':result = num1 - num2elif operator == '*':result = num1 * num2elif operator == '/':if num2 == 0:raise ZeroDivisionError("Division by zero is not allowed.")result = num1 / num2else:# 这在客户端已经检查过，但作为服务端健壮性考虑raise ValueError(f"Unsupported operator: {operator}")# 准备并发布响应response_msg = String()response_msg.data = f"{num1} {operator} {num2} = {result}"self.publisher_.publish(response_msg)self.get_logger().info(f'Processed request: {num1} {operator} {num2} = {result}')except ValueError as e:# 处理解析错误或不支持的运算符error_msg = String()error_msg.data = f"Error: Invalid request data '{msg.data}'. Details: {e}"self.publisher_.publish(error_msg)self.get_logger().warn(f'Failed to process request: {msg.data}. Error: {e}')except ZeroDivisionError as e:# 处理除零错误error_msg = String()error_msg.data = f"Error: {e}"self.publisher_.publish(error_msg)self.get_logger().warn(f'Calculation error for request: {msg.data}. Error: {e}')except Exception as e: # 捕获其他未预期的错误error_msg = String()error_msg.data = f"Unexpected error occurred: {e}"self.publisher_.publish(error_msg)self.get_logger().error(f'Unexpected error processing request: {msg.data}. Error: {e}')def main(args=None):rclpy.init(args=args)calculator_server = CalculatorServer()try:print("Calculator server is running... Waiting for requests.")# 保持节点运行，等待消息rclpy.spin(calculator_server)except KeyboardInterrupt:print("\nShutting down server...")finally:calculator_server.destroy_node()rclpy.shutdown()if __name__ == '__main__':main()

Additional Notes:

• The created node will need manual modification to implement the actual calculator service logic
• After creation, you would typically:
  1. Edit the node file to implement service callbacks
  2. Add message/service dependencies if needed
  3. Build with colcon build
  4. Source the workspace
  5. Run with ros2 run calculator_server_py calculator_server_node

4. 构建与运行

1. 构建包：

colcon build --packages-select calculator_client_py calculator_server_py

• 激活环境：

source install/setup.bash

• 启动节点：

  • 在一个终端中启动服务器（必须先启动）：

ros2 run calculator_server_py calculator_server_node

• 在另一个终端中启动客户端：

  • ros2 run calculator_client_py calculator_client_node

• 交互： 在客户端终端输入类似 3 + 5 的表达式，服务器会计算并将结果返回，客户端会显示结果。

启动客户端Node

启动服务端Node