Server部分：
#！/usr/bin/env python

import sys
import os

import rospy
#from beginner.srv import *
from beginner.srv import AddTwoInts

def add_two_ints_client(x,y):
rospy.wait_for_service('add_two_ints')# rospy.wait_for_service（‘service的tipoc’）
try:
add_two_ints=rospy.ServiceProxy('add_two_ints
 
',AddTwoInts)#client請求（request）後server的返回值（response）add_two_ints 通過rospy.ServiceProxy的方式向service傳送（request）請求
resp1=add_two_ints(x,y) #將引數傳送給server
return resp1.sum
except rospy.ServiceException, e:
print "Service call failed: %s"%e

def usage():
return "%s [x,y]"%sys.argv[0]

if __name__=="__main__"
 
:
if len(sys.argv)==3:
x=int(sys.argv[1])
y=int(sys.argv[2])
else:
print usage()
sys.exit(1)
print"Resquesting %s+%s"%(x,y)
print"%s+%s=%s"%(x,y,add_two_ints_client(x,y))

Client部分：

import rospy
from beginner.srv import *
#from beginner.srv import *
#from beginner.srv import AddTwoInts


def handle_add_two_ints(req):
print(
 
"Returning[%s+%s=%s]"%(req.a,req.b,(req.a+req.b)))
sum=req.a+req.b
return AddTwoIntsResponse(sum)

def add_two_ints_server():
rospy.init_node('add_two_ints_server')
s = rospy.Service('add_two_ints',AddTwoInts,handle_add_two_ints)#服務節點，服務型別，這裡必須和AddTwoInts.srv的檔名一致，處理函式 處理函式呼叫和返回例項化的AddTwoIntsRes
print"Ready to add Two Ints"
rospy.spin()
if __name__=="__main__":
add_two_ints_server()