在功能包的src文件夹中新建ABC.cpp文件

打开CMakeLists.txt文件，添加如下代码

• xxx_srv是节点名，rosrun package/xxx_srv

    add_executable(xxx_srv src/ABC.cpp)   
    target_link_libraries(xxx_srv ${catkin_LIBRARIES})
    add_dependencies(xxx_srv package_name_gencpp)
  

  ---

  把CMakLists.txt拉入Clion

• 源码结构如下

    #include <ros/ros.h>
    #include <begin/my_srv.h>
    #include<iomanip>
    bool judge(begin::my_srv::Request &req, begin::my_srv::Response &res){
        if ((req.req%2)) res.velocity.linear.x = 1.0;
        else res.velocity.linear.x = 2.0;
        ROS_INFO_STREAM(req.req);
        ROS_INFO_STREAM(std::setprecision(2) << std::fixed<< "SENDING BACK : " << res.velocity.linear.x );
        return true;
    }
  
    int main(int argc, char **argv){
        ros::init(argc, argv, "server");//server是节点的名字
        ros::NodeHandle n;
  
        ros::ServiceServer service = n.advertiseService("service" , judge);
        //service 是服务的名字
        ROS_INFO_STREAM("ready to judge!");
        ros::spin();//ros::spinOnce()的用法参考浅谈P70、155
        //如果除了服务调用之外还有其他任务要做，用spinOnce
  
        return 0;
    }