1、編寫自定義的服務檔案（即.srv）檔案。

2、儲存，catkin_make編譯，要生成可以被#include "包/AddTwoInts.h",注意CMakeList.txt檔案的配置

cmake_minimum_required(VERSION 2.8.3)
project(learing_communication)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
## Generate messages in the 'msg' folder
add_message_files(
    FILES
    Person.msg
#   Message2.msg
)

## Generate services in the 'srv' folder
add_service_files(
   FILES
   AddTwoInts.srv
#   Service1.srv
#   Service2.srv
 )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
    DEPENDENCIES
    std_msgs
    #message_generation
 )
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener ${PROJECT_NAME}_generate_messages_cpp)


add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependencies(server ${PROJECT_NAME}_gencpp)

add_executable(client src/client.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependencies(client ${PROJECT_NAME}_gencpp)
 

3、現在就可以在你其他節點中以#include "包/AddTwoInts.h"的形式引用了。

  注意：對於AddTwoInts.h 是有AddTwoInts.srv檔案在編譯後自動生成的