fix: 更新&修复: ROS2-005-通信机制：服务通信-分支贰：Python实现 内容修订与描述更新

docs/learningNote/Ros2_Note/2024_10_03_004.md

@@ -78,7 +78,8 @@ class MinimalService(Node):
             返回值：发布方对象。
         """
 
-        self.srv_ = self.create_service(AddInts, 'topic_add_ints', self.add_two_ints_callback)
+        self.srv_ = self.create_service(AddInts, 'add_ints', self.add_two_ints_callback)
+    self.get_logger().info("服务端启动完毕，等待请求提交...")
 
     # 3-2.处理请求数据并响应结果；
     """
@@ -150,9 +151,9 @@ class MinimalClients(Node):
         返回值：订阅对象
 
     """
-     self.client = self.create_client(AddInts, "topic_add_ints")
+     self.cli_ = self.create_client(AddInts, "topic_add_ints")
     # 3-2. 等待服务连接。
-    while not self.cli.wait_for_service(timeout_sec=1.0):
+    while not self.cli_.wait_for_service(timeout_sec=1.0):
         self.get_logger().info("服务连接中，请稍后。。。")
     self.req = AddInts.Request()
 
@@ -161,7 +162,7 @@ class MinimalClients(Node):
 
         self.req.num1 = int(sys.argv[1])
         self.req.num2 = int(sys.argv[2])
-        self.future = self.cli.call_async(self.req)
+        self.future = self.cli_.call_async(self.req)
 
 
 def main():
@@ -180,7 +181,7 @@ def main():
     except Exception as e:
         minimal_client.get_logger().info("服务请求失败：%r" % (e, ))
     else:
-        minimal_client.get_logger().info("响应结果：%d + %d = %d" % (minimal_client.req.num1, minimal_client.req.num2, minimal_client.req.sum))
+        minimal_client.get_logger().info("响应结果：%d + %d = %d" % (minimal_client.req.num1, minimal_client.req.num2, response.sum))
 
     # 5. 释放资源;
     rclpy.shutdown()
@@ -263,7 +264,7 @@ ros2 run py02_service demo02_client_py 100 200
 
 最终运行结果应与下图类似。
 
-![占位符2]()
+![Python实现简单服务通信运行结果](./assets/Service_Comm_Running_Result_Py.png)
 
 ## 总结