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                            # 單元測試四
<quiz>
    <question>
        <p>1.[單選](2分)下列有關Service與Topic通信區別的描述，說法錯誤的是：</p>
        <answer>A.Topic是異步通信，Service是同步通信</answer>
        <answer correct>B.多個Server可以同時提供同一個Service</answer>
        <answer>C.Topic通信是單向的，Service是雙向的</answer>
        <answer>D.Topic適用于傳感器的消息發布，Service適用于偶爾調用的任務</answer>
        <explanation> B、錯誤，service是不能重名的，一個service只能由一個server提供</explanation>
    </question>
</quiz>

<quiz>
    <question>
        <p>2.[單選](2分)已知一個service叫做'/GetMap'，查看該service的類型可以用哪條指令?</p>
        <answer>A.rosservice echo /GetMap</answer>
        <answer correct>B.rosservice type /GetMap</answer>
        <answer>C.rossrv type /GetMap</answer>
        <answer>D.rosservice list /GetMap</answer>
        <explanation>你選對了</explanation>
    </question>
</quiz>

<quiz>
    <question>
        <p>3.[單選](2分)已知`/GetMap`的類型是'nav_msgs/GetMap'，要查看該類型的具體格式用哪條指令?</p>
        <answer>A.rossrv show /GetMap</answer>
        <answer correct>B.rossrv show nav_msgs/GetMap</answer>
        <answer>C.rosservice show nav_msgs/GetMap</answer>
        <answer>D.rosservice list nav_msgs/GetMap</answer>
        <explanation>你選對了</explanation>
    </question>
</quiz>

<quiz>
    <question>
        <p>4.[單選](2分)在parameter server上添加param的方式不包括：</p>
        <answer correct>A.通過rosnode命令添加param</answer>
        <answer>B.通過rosparam命令添加param</answer>
        <answer>C.在launch中添加param</answer>
        <answer>D.通過ROS的API來添加param</answer>
        <explanation>A、錯誤，添加參數應該用rosparam set命令</explanation>
    </question>
</quiz>

<quiz>
    <question>
        <p>5.[單選](2分)關于Action的描述錯誤的是：</p>
        <answer correct>A.Action通信的雙方也是Client和Server</answer>
        <answer>B.Action的Client可以發送目標goal，也可以請求取消cancel</answer>
        <answer>C.action文件與.srv文件寫法一致</answer>
        <answer>D.Action通常用在長時間的任務中    </answer>
        <explanation>解析：  C、.action為三段式：
                #Goal
                ---
                #Result
                ---
                #Feedback

                而.srv為兩段式：
                #Request
                ---
                #Reply</explanation>
                
</question>
</quiz>

<quiz>
    <question multiple>
        <p>6.[多選](5分)關于ROS通信方式的描述正確的是：</p>
        <answer>A.現在要設計一個節點，開發路徑規劃功能，輸入是目標點和起始點，輸出是路徑，適合用Topic通信方式</answer>
        <answer correct>B.傳感器消息發布一般都采用Topic形式發布</answer>
        <answer correct>C.Action更適合用在執行時間長、并且需要知道狀態和結果的場景</answer>
        <answer correct>D.機械臂關節逆解適合用Service通信</answer>
        <explanation> A、錯誤，Topic是單向的通信，在此處應用Service或Action  D、正確，逆解計算的request為末端坐標，reply為關節角度</explanation>
    </question>
</quiz>


                    
                
        
                
            
        
                
    
                
    
                
        
                
    
                

                







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