Ros中写一个服务端代码和客户端代码，写一个srv文件，客户端发送两个数字，服务端返回二者的最大公因数

服务端代码：

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from std_msgs.msg import Int64
from beginner_tutorials.srv import Gcd, GcdResponse

def gcd(req):
    a = req.a
    b = req.b
    while b:
        a, b = b, a % b
    return GcdResponse(a)

def gcd_server():
    rospy.init_node('gcd_server')
    s = rospy.Service('gcd', Gcd, gcd)
    print("Ready to calculate gcd.")
    rospy.spin()

if __name__ == "__main__":
    gcd_server()

客户端代码：

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from beginner_tutorials.srv import Gcd, GcdRequest

def gcd_client(x, y):
    rospy.wait_for_service('gcd')
    try:
        gcd = rospy.ServiceProxy('gcd', Gcd)
        resp = gcd(x, y)
        return resp.gcd
    except rospy.ServiceException as e:
        print("Service call failed: %s"%e)

if __name__ == "__main__":
    x = int(input("Enter first number: "))
    y = int(input("Enter second number: "))
    print("Requesting %s and %s"%(x, y))
    print("GCD is %s"%(gcd_client(x, y)))

srv文件：

int64 a
int64 b
---
int64 gcd

注意：以上代码仅供参考，具体实现可能需要根据实际情况进行修改。