现在有一个ros功能包如何用c/c++代码实现暴露该功能包的http端口使得postman能够测试该功能包 完整代码
时间: 2024-03-27 09:40:09 浏览: 18
首先,你需要在ROS功能包中添加一个HTTP服务器,可以使用开源的库,如Boost.Asio或Poco库。然后,你需要实现一个HTTP请求处理程序,通过HTTP POST请求来调用ROS功能包的服务。下面是一个示例代码,你可以将其添加到ROS功能包中的C++源文件中:
```cpp
#include <ros/ros.h>
#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <string>
using boost::asio::ip::tcp;
class HttpServer {
public:
HttpServer(ros::NodeHandle& nh, const std::string& address, int port)
: nh_(nh), acceptor_(io_service_, tcp::endpoint(boost::asio::ip::address::from_string(address), port)) {
startAccept();
}
private:
ros::NodeHandle nh_;
boost::asio::io_service io_service_;
tcp::acceptor acceptor_;
void startAccept() {
tcp::socket socket(io_service_);
acceptor_.async_accept(socket, boost::bind(&HttpServer::handleAccept, this, socket, boost::asio::placeholders::error));
}
void handleAccept(tcp::socket& socket, const boost::system::error_code& error) {
if (!error) {
boost::asio::streambuf request;
boost::asio::read_until(socket, request, "\r\n\r\n");
std::string response = "HTTP/1.1 200 OK\r\n";
response += "Content-Type: text/html\r\n\r\n";
response += "<html><body>Hello, world!</body></html>";
boost::asio::write(socket, boost::asio::buffer(response));
}
startAccept();
}
};
int main(int argc, char** argv) {
ros::init(argc, argv, "http_server");
ros::NodeHandle nh("~");
std::string server_address;
int server_port;
nh.param<std::string>("server_address", server_address, "127.0.0.1");
nh.param<int>("server_port", server_port, 8080);
HttpServer http_server(nh, server_address, server_port);
ros::spin();
return 0;
}
```
这个示例代码实现了一个简单的HTTP服务器,监听指定的地址和端口,接受来自客户端的HTTP POST请求,并返回一个“Hello, world!”的HTML页面。你可以根据需要修改HTTP请求处理程序,以便调用ROS功能包的服务。