{"id":17519,"date":"2022-09-20T10:00:00","date_gmt":"2022-09-20T02:00:00","guid":{"rendered":"https:\/\/www.circuspi.com\/?p=17519"},"modified":"2023-10-30T13:35:48","modified_gmt":"2023-10-30T05:35:48","slug":"ros2-introduction","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2022\/09\/20\/ros2-introduction\/","title":{"rendered":"ROS \u6559\u5b78\u7cfb\u5217(\u4e8c)\uff0d\u8a8d\u8b58 Robot Operating System 2(ROS 2)"},"content":{"rendered":"\n<p><style>\n\/* ###\u5be6\u9a57\u4e0b\u4e00\u5217### *\/\n\na:link {color:#0695e4\n;}    \/* \u8a2d\u5b9a\u5c1a\u672a\u9ede\u95b1\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\na:visited {color:#0695e4\n;} \/* \u8a2d\u5b9a\u904e\u53bb\u66fe\u7d93\u95b1\u904e\u7684\u9023\u7d50 *\/\na:hover {color:#0695e4\n;}   \/* \u8a2d\u5b9a\u6ed1\u9f20\u6e38\u6a19\u6307\u5728\u9023\u7d50\u4f4d\u7f6e\u4e0a\u7684\u6a23\u5f0f *\/\na:active {color:#0000BB;}  \/* \u8a2d\u5b9a\u4e0a\u9ede\u64ca\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\n<\/style><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1000\" height=\"526\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/09\/1000x526-2.jpg\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u4e8c)\uff0d\u8a8d\u8b58 Robot Operating System 2(ROS 2)\" class=\"wp-image-17629\"\/><\/figure>\n\n\n\n<p>\u9084\u6c92\u95b1\u8b80\u4e0a\u4e00\u7bc7\u6587\u7ae0\u300c<a href=\"https:\/\/www.circuspi.com\/index.php\/2022\/09\/15\/ros1-introduction\/\" target=\"_blank\" rel=\"noreferrer noopener\">ROS \u6559\u5b78\u7cfb\u5217(\u4e00)\uff0d\u8a8d\u8b58 Robot Operating System (ROS)<\/a>\u300d\u7684\u5925\u4f34\u5011\uff0c\u5efa\u8b70\u5927\u5bb6\u53ef\u4ee5\u5148\u95b1\u8b80\u5537\uff01<\/p>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u5c31\u8981\u5e36\u5927\u5bb6\u4e00\u8d77\u5b78\u7fd2 Robot Operating System 2(ROS 2) \u5230\u5e95\u662f\u4ec0\u9ebc\uff1f\u73fe\u5728\u5c31\u8ddf\u8457\u6211\u5011\u4e00\u8d77\u9032\u5165 ROS 2 \u7684\u4e16\u754c\u5427\uff01<\/p>\n\n\n\n<figure class=\"wp-block-embed aligncenter is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"\u3010ROS \u6559\u5b78\u3011EP.1 \u65b0\u624b\u5982\u4f55\u9078\u64c7ROS\u7684\u7248\u672c | \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\" width=\"1140\" height=\"641\" src=\"https:\/\/www.youtube.com\/embed\/vgcbn5B7Mrw?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001 ROS 2 \u7684\u8a2d\u8a08\u76ee\u7684<\/h2>\n\n\n\n<p>ROS 2 \u7684\u51fa\u73fe\u662f\u70ba\u4e86\u8981\u6539\u9032 ROS 1 \u7684\u4fb7\u9650\u6027\uff0c\u5b83\u5177\u6709\u4ee5\u4e0b\u4e94\u500b\u7279\u9ede\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u652f\u63f4\u591a\u6a5f\u5668\u4eba\u7cfb\u7d71\u7684\u958b\u767c\u8207\u61c9\u7528<\/h3>\n\n\n\n<p>ROS 2 \u589e\u52a0\u4e86\u5c0d\u591a\u6a5f\u5668\u4eba\u7cfb\u7d71\u7684\u652f\u63f4\uff0c\u9032\u800c\u63d0\u5347\u4e86\u591a\u6a5f\u5668\u4eba\u4e4b\u9593\u901a\u8a0a\u7684\u7db2\u8def\u6548\u80fd\uff0c\u66f4\u8a73\u7d30\u7684\u4ecb\u7d39\u53ef\u53c3\u8003\u300c<a href=\"#title3\">ROS 2 \u7684\u95dc\u9375\u4e2d\u4ecb\u8edf\u9ad4<\/a>\u300d\u8aaa\u660e\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u8de8\u7cfb\u7d71\u5e73\u53f0\u7684\u652f\u63f4<\/h3>\n\n\n\n<p>\u5728 ROS 1 \u4e2d\uff0c\u7cfb\u7d71\u7684\u8a2d\u8a08\u9ad8\u5ea6\u4f9d\u8cf4 <a href=\"https:\/\/ubuntu.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">Ubuntu<\/a> \u7cfb\u7d71\u3002\u800c ROS 2 \u6539\u5584\u4e86\u9019\u4e00\u9805\u4fb7\u9650\uff0c\u5728 <a href=\"https:\/\/www.microsoft.com\/zh-tw\/windows\/\" target=\"_blank\" rel=\"noreferrer noopener\">Windows<\/a>\u3001<a href=\"https:\/\/www.apple.com\/tw\/macos\/monterey\/\" target=\"_blank\" rel=\"noreferrer noopener\">macOS<\/a>\u3001RTOS \u7b49\u7d93\u5e38\u4f7f\u7528\u7684\u4f5c\u696d\u7cfb\u7d71\u4e0a\u4e5f\u6709\u66f4\u591a\u7684\u652f\u63f4\uff0c\u9019\u8b93\u6a5f\u5668\u4eba\u958b\u767c\u8005\u64c1\u6709\u66f4\u591a\u9078\u64c7\u7684\u7a7a\u9593\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u652f\u63f4\u5373\u6642\u63a7\u5236<\/h3>\n\n\n\n<p>ROS 2 \u4e5f\u80fd\u5920\u652f\u63f4\u5373\u6642\u63a7\u5236\uff0c\u9019\u9805\u529f\u80fd\u53ef\u4ee5\u63d0\u9ad8\u5c0d\u65bc\u6a5f\u5668\u4eba\u63a7\u5236\u7684\u6642\u6548\u6027\u8207\u6a5f\u5668\u4eba\u6574\u9ad4\u6027\u80fd\u3002\u66f4\u591a\u8a73\u7d30\u7684\u8cc7\u8a0a\u53ef\u4ee5\u53c3\u8003 <a href=\"https:\/\/docs.ros.org\/en\/foxy\/Tutorials\/Demos\/Real-Time-Programming.html\" target=\"_blank\" rel=\"noreferrer noopener\">ROS \u5b98\u65b9\u7db2\u7ad9<\/a>\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u964d\u4f4e\u539f\u578b\u8a2d\u8a08\u81f3\u5be6\u969b\u7522\u54c1\u7684\u904e\u6e21\u6642\u671f<\/h3>\n\n\n\n<p>ROS 1 \u6700\u521d\u662f\u4ee5\u7814\u7a76\u76ee\u7684\u6240\u958b\u767c\u7684\u7cfb\u7d71\uff0c\u800c ROS 2 \u5728\u8a2d\u8a08\u4e0a\u589e\u52a0\u4e86\u61c9\u7528\u65b9\u9762\u7684\u652f\u63f4\uff0c\u5927\u5e45\u964d\u4f4e\u6a5f\u5668\u4eba\u5f9e\u7814\u7a76\u958b\u767c\u5230\u5be6\u969b\u61c9\u7528\u7684\u904e\u6e21\u6642\u671f\uff0c\u8b93\u66f4\u591a\u6a5f\u5668\u4eba\u80fd\u5920\u76f4\u63a5\u642d\u8f09 ROS 2 \u6295\u5165\u5e02\u5834\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5. \u5fae\u63a7\u5236\u5668\u7684\u652f\u63f4<\/h3>\n\n\n\n<p>ROS 2 \u4e0d\u50c5\u53ef\u5728\u73fe\u6709\u7684 x86 \u6216 ARM \u67b6\u69cb\u4e0a\u5be6\u73fe\uff0c\u9084\u53ef\u4ee5\u652f\u63f4\u5fae\u63a7\u5236\u5668\uff08Microcontroller Unit\uff0cMCU\uff09\uff0c\u66f4\u591a\u8a73\u7d30\u7684\u8cc7\u8a0a\u53ef\u4ee5\u53c3\u8003<a href=\"https:\/\/micro.ros.org\/\" target=\"_blank\" rel=\"noreferrer noopener\"> micro-ros<\/a> \u5b98\u7db2\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001ROS 2 \u7684\u7cfb\u7d71\u67b6\u69cb<\/h2>\n\n\n\n<p>ROS 2 \u5728\u7cfb\u7d71\u7684\u67b6\u69cb\u4e0a\uff0c\u6709\u66f4\u660e\u78ba\u7684\u5206\u5c64\u8a2d\u8a08\uff0c\u9019\u8b93 ROS 2 \u66f4\u80fd\u5920\u90e8\u7f72\u5728\u5404\u5f0f\u5404\u6a23\u7684\u5e73\u53f0\u4e0a\uff0c\u6539\u5584\u4e86 ROS 1 \u5c0d\u90e8\u4efd\u7cfb\u7d71\u6216\u901a\u8a0a\u65b9\u5f0f\u64c1\u6709\u9ad8\u5ea6\u4f9d\u8cf4\u7684\u7f3a\u9ede\uff0c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/smYtBnnoDIwS0bO6gXMDHNKrOdRYlOR40lm1EPVby5SCIInqAjjzxRKX-swvabjSCwicSM6toncyYHaH-tiJPboMMY3H_vuZ3T-V0h0tlG-43_-Plt7tAOXwG4gdaB3G9rBRx_lhepVemKJ8ddCTtTCufkcRXMvX0c9i5b50FlLM6xG6fo6caiyBHw\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u4e8c)\uff0d\u8a8d\u8b58 Robot Operating System 2(ROS 2)\" width=\"864\" height=\"368\"\/><\/figure><\/div>\n\n\n<p>\u63a5\u4e0b\u4f86\u6211\u5011\u5c07\u5f9e\u7cfb\u7d71\u5c64\u81f3\u61c9\u7528\u5c64\u5f80\u4e0a\u9010\u6b65\u4ecb\u7d39\u6bcf\u4e00\u5c64\u7684\u8a2d\u8a08\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u7cfb\u7d71\u5c64\uff08Operating System Layer\uff09<\/h3>\n\n\n\n<p>ROS 2 \u652f\u6301\u7684\u4f5c\u696d\u7cfb\u7d71\u5305\u62ec Linux\u3001Windows\u3001macOS\u3001RTOS \u7b49\u5e38\u898b\u7684\u4f5c\u696d\u7cfb\u7d71\uff0c\u4f46\u537b\u53c8\u4e0d\u50c5\u9650\u65bc\u6b64\uff1b\u82e5\u6709\u9700\u8981\uff0c\u4e5f\u80fd\u5920\u8a2d\u8a08\u5728\u6c92\u6709\u4f5c\u696d\u7cfb\u7d71\u7684\u6a5f\u5668\u4e0a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u4e2d\u4ecb\u8edf\u9ad4\u5c64\uff08Middleware Layer\uff09<\/h3>\n\n\n\n<p>ROS 1 \u4e2d\u6700\u91cd\u8981\u7684\u6982\u5ff5\u300c\u7bc0\u9ede\uff08node\uff09\u300d\uff0c\u662f\u4e00\u500b\u53ef\u4ee5\u8b93\u958b\u767c\u8005\u9032\u884c\u4f4e\u8026\u5408\uff08low coupling\uff09\u8a2d\u8a08\u8207\u516c\u958b\u767c\u884c\u7684\u529f\u80fd\u6a21\u7d44\uff0c\u4e26\u4e14\u80fd\u5920\u65b9\u4fbf\u5730\u9032\u884c\u4e8c\u6b21\u958b\u767c\u3002<\/p>\n\n\n\n<p>ROS 2 \u4e5f\u64c1\u6709\u540c\u6a23\u7684\u7279\u9ede\uff0c\u4e26\u4e14\u5728\u901a\u8a0a\u7cfb\u7d71\u4e0a\u63a1\u7528\u300c\u8cc7\u6599\u5206\u6563\u5f0f\u670d\u52d9\u300d (Data Distribution Service\uff0cDDS)\uff0c\u9019\u662f\u4e00\u7a2e\u5206\u6563\u5f0f\u5373\u6642\u7cfb\u7d71\u4e2d\uff0c\u8cc7\u6599\u767c\u4f48\u8207\u8a02\u95b1\u7684\u6a19\u6e96\u89e3\u6c7a\u65b9\u6848\uff0c\u66f4\u591a\u7684\u4ecb\u7d39\u53ef\u53c3\u7167\u300c<a href=\"#title3\">ROS 2 \u7684\u95dc\u9375\u4e2d\u4ecb\u8edf\u9ad4<\/a>\u300d\u3002ROS 2 \u63d0\u4f9b\u4e86 DDS \u7684\u62bd\u8c61\u5c64\uff0c\u9019\u8868\u793a\u958b\u767c\u8005\u4e0d\u9700\u8981\u82b1\u8cbb\u592a\u591a\u6642\u9593\u5728\u627e\u5c0b\u63d0\u4f9b\u8cc7\u6599\u5206\u5e03\u670d\u52d9\u7684\u5ee0\u5546\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u61c9\u7528\u5c64\uff08Application Layer\uff09<\/h3>\n\n\n\n<p>\u5728 ROS 2 \u4e2d\uff0c\u7bc0\u9ede\u4e4b\u9593\u4f7f\u7528\u5206\u6563\u5f0f\u767c\u73fe\u6a5f\u5236\uff08distributed discovery process\uff09\u9032\u884c\u9023\u7d50\u3002\u9019\u9805\u6a5f\u5236\u8b93 ROS 2 \u4e2d\u7684\u7bc0\u9ede\u4e0d\u518d\u9700\u8981\u4f9d\u8cf4\u4e00\u500b\u4e3b\u8981\u7bc0\u9ede\uff08Master Node\uff09\u9032\u884c\u9023\u7d50\uff0c\u610f\u8b02\u8457\u5373\u4f7f\u7cfb\u7d71\u4e2d\u7684\u4e3b\u8981\u6a5f\u5668\u5931\u53bb\u9023\u7dda\uff0c\u5176\u9918\u7684\u6a5f\u5668\u4eba\u4ecd\u80fd\u5920\u6b63\u5e38\u904b\u4f5c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"title3\">\u4e09\u3001ROS 2 \u7684\u95dc\u9375\u4e2d\u4ecb\u8edf\u9ad4\u2013 \u8cc7\u6599\u5206\u6563\u5f0f\u670d\u52d9\uff08Data Distribution Service\uff0cDDS)<\/h2>\n\n\n\n<p>DDS \u662f\u4e00\u7a2e\u5c08\u9580\u70ba\u5373\u6642\u7cfb\u7d71\u8a2d\u8a08\u7684\u8cc7\u6599\u5206\u5e03\u8207\u8a02\u95b1\u6a19\u6e96\uff0c\u4e26\u4e14\u5728 2004 \u5e74\u7531\u570b\u969b\u5354\u6703\u2014<a href=\"https:\/\/www.google.com\/search?q=Object+Management+Group&amp;sourceid=chrome&amp;ie=UTF-8\" target=\"_blank\" rel=\"noreferrer noopener\">\u76ee\u6a19\u7ba1\u7406\u7d44\u7e54<\/a>\uff08Object Management Group\uff09\u767c\u4f48\u7b2c\u4e00\u4ee3\u7248\u672c\u3002<\/p>\n\n\n\n<p>DDS \u6700\u65e9\u88ab\u61c9\u7528\u5728\u7f8e\u570b\u6d77\u8ecd\u7684\u8266\u8247\u4e0a\uff0c\u662f\u70ba\u4e86\u89e3\u6c7a\u8266\u8247\u8907\u96dc\u7db2\u8def\u4e2d\u5927\u91cf\u8edf\u9ad4\u5347\u7d1a\u7684\u517c\u5bb9\u6027\u554f\u984c\uff0c\u800c\u73fe\u5728\u5df2\u6210\u70ba\u7f8e\u570b\u570b\u9632\u90e8\u7684\u5f37\u5236\u6027\u6a19\u6e96\uff0c\u5176\u95dc\u9375\u6280\u8853\u5728\u65bc\u4ee5\u8cc7\u6599\u70ba\u6838\u5fc3\u7684\u767c\u4f48\u8207\u8a02\u95b1\u6a21\u578b\uff08Data-Centric Publish-Subscribe\uff09\u3002<\/p>\n\n\n\n<p>\u9019\u7a2e\u6a21\u578b\u5efa\u7acb\u4e00\u500b\u300c\u5168\u5c40\u8cc7\u6599\u7a7a\u9593\uff08Global Data Space\uff09\u300d\u7684\u6982\u5ff5\uff0c\u53ef\u4ee5\u770b\u4f5c\u662f\u61c9\u7528\u7a0b\u5f0f\u900f\u904e\u76f8\u95dc\u7684\u61c9\u7528\u7a0b\u5f0f\u4ecb\u9762\uff08Application Programming Interface, API\uff09\uff0c\u7372\u53d6\u6a5f\u5668\u672c\u5730\u7aef\u7684\u8a18\u61b6\u9ad4\u8cc7\u8a0a\u3002\u73fe\u5728\u5e02\u9762\u4e0a\u5df2\u6709\u591a\u5bb6\u5ee0\u5546\u63d0\u4f9b DDS \u7684\u76f8\u95dc\u6280\u8853\uff0c\u5305\u62ec\u53ef\u4ee5\u4f9b\u7d66 ROS 2 \u4f7f\u7528\u7684\u958b\u6e90\u7248\u672c\u8207\u5546\u696d\u7248\u672c\uff0c\u76f8\u95dc\u8cc7\u8a0a\u5982\u4e0b\u5716\u6240\u793a( \u50c5\u5217\u51fa\u90e8\u5206\u5ee0\u5546)\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter is-resized\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/sIt07Bmk8vJxtx-BbOj236EjdlRuRhhA_wtk8t22AOPnLF78D3nybQDLoI1x8CgNoIw6cxHrGG0g8V7idHNm_4GnRi7tltpJ9GWxq9zyxzCr6LnWp0xcFQhy3_6LIp2ppdsBGmr845O-kpUkiHlazrAKbgei7RiBuB-jruFmrD6jXkLCm4hRIqcljw\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u4e8c)\uff0d\u8a8d\u8b58 Robot Operating System 2(ROS 2)\" width=\"-199\" height=\"-25\"\/><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter is-resized\"><img decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/PnxlngTgPpz2ypOlgdvWh_QqpUOSOhvQPnVTHoY_bTAyFctSL4loo31Va6RJ0MjgHSouf8XML6ixxjvc18zHcYEFOHmcMMgincBsTxqunln17TGBYjhBKzySHjq67XcdzG3QdOH6VQhQal6-2yquUCjNoy_j--ZE-DmZlBJxzNxYsKRQI_Avg-OWEw\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u4e8c)\uff0d\u8a8d\u8b58 Robot Operating System 2(ROS 2)\" width=\"-203\" height=\"-86\"\/><\/figure><\/div>\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001ROS 2 \u7684\u901a\u8a0a\u67b6\u69cb<\/h2>\n\n\n\n<p>ROS 2 \u7684\u901a\u8a0a\u662f\u5efa\u69cb\u5728 ROS 1 \u7684\u57fa\u790e\u4e0a\uff0c\u4e5f\u5c31\u662f\u4e3b\u984c\uff08Topic\uff09\u3001\u670d\u52d9\uff08Service\uff09\u3001\u52d5\u4f5c\uff08Action\uff09\u7b49\u901a\u8a0a\u6a5f\u5236\u3002\u8f03\u70ba\u4e0d\u540c\u7684\u662f\uff0c\u56e0\u70ba ROS 2 \u63a1\u7528\u4e86 DDS \u4f5c\u70ba\u901a\u8a0a\u6a19\u6e96\uff0c\u56e0\u6b64\u4e5f\u65b0\u589e\u4e86\u4e00\u4e9b DDS \u7684\u901a\u8a0a\u6a5f\u5236\uff0c\u63a5\u4e0b\u4f86\u5c07\u4ee5\u4e0b\u5716\u6240\u793a\u7684 ROS 2 \u901a\u8a0a\u67b6\u69cb\u4f86\u8aaa\u660e\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/AcfA3VWkn7633ObnbgVN3eqBNSIpyRbOXYHA0xn9Ny-OF8UsYyyxJgGiz-VY_7tHz9zs5t0-SE7L8uVJP7ud1_zf9vBxAFu5piDFEcYIlUuHxTIFmStJ7Bz6tt6BcBK0Rtf9GqfFn7MVoSRA6LPPrHftb5khSZ5EOhEWZhGpgzbZ8fxOK7BzqfX6UQ\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u4e8c)\uff0d\u8a8d\u8b58 Robot Operating System 2(ROS 2)\" width=\"644\" height=\"450\"\/><\/figure><\/div>\n\n\n<h3 class=\"wp-block-heading\">1. \u53c3\u8207\u8005\uff08Participant\uff09<\/h3>\n\n\n\n<p>\u5728 DDS \u7684\u67b6\u69cb\u4e2d\uff0c\u6bcf\u4e00\u500b\u767c\u4f48\u8005\uff08Publisher\uff09\u6216\u8a02\u95b1\u8005\uff08Subscriber\uff09\u90fd\u88ab\u7a31\u70ba\u53c3\u8207\u8005\uff0c\u4ee5\u6a5f\u5668\u4eba\u4e4b\u9593\u7684\u901a\u8a0a\u4f86\u770b\uff0c\u53ef\u4ee5\u60f3\u50cf\u6bcf\u53f0\u4f7f\u7528 DDS \u7684\u6a5f\u5668\u90fd\u662f\u4ee5\u53c3\u8207\u8005\u7684\u65b9\u5f0f\u5b58\u5728\u3002\u5c0d\u65bc\u4f7f\u7528 DDS \u7684\u6a5f\u5668\u4f86\u8aaa\uff0c\u5f7c\u6b64\u4e4b\u9593\u90fd\u53ef\u4ee5\u4f9d\u7167\u5b9a\u7fa9\u597d\u7684\u8cc7\u6599\u985e\u578b\u9032\u884c\u300c\u8b80\uff0f\u5beb\u300d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u767c\u4f48\u8005\uff08Publisher\uff09<\/h3>\n\n\n\n<p>\u8cc7\u6599\u767c\u4f48\u7684\u57f7\u884c\u8005\uff0c\u80fd\u5920\u767c\u4f48\u591a\u7a2e\u985e\u578b\u7684\u8cc7\u6599\uff0c\u53ef\u4ee5\u8207\u591a\u500b\u8cc7\u6599\u5beb\u5165\u5668\uff08Data Writer\uff09\u76f8\u9023\uff0c\u767c\u4f48\u4e00\u7a2e\u6216\u591a\u7a2e Topic \u7684\u8a0a\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u8a02\u95b1\u8005\uff08Subscriber\uff09<\/h3>\n\n\n\n<p>\u8cc7\u6599\u8a02\u95b1\u7684\u57f7\u884c\u8005\uff0c\u80fd\u5920\u8a02\u95b1\u591a\u7a2e\u985e\u578b\u7684\u8cc7\u6599\uff0c\u53ef\u4ee5\u8207\u591a\u500b\u8cc7\u6599\u8b80\u53d6\u5668\uff08Data Reader\uff09\u76f8\u9023\uff0c\u8a02\u95b1\u4e00\u7a2e\u6216\u591a\u7a2e Topic \u7684\u8a0a\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u8cc7\u6599\u5beb\u5165\u5668\uff08Data Writer\uff09<\/h3>\n\n\n\n<p>\u5728\u61c9\u7528\u5c64\u4e2d\uff0c\u5411\u767c\u4f48\u8005\u66f4\u65b0\u8cc7\u6599\u7684\u5b58\u5728\uff0c\u6bcf\u500b\u8cc7\u6599\u5beb\u5165\u5668\u5c0d\u61c9\u4e00\u500b\u6307\u5b9a\u7684 Topic\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5. \u8cc7\u6599\u8b80\u53d6\u5668\uff08Data Reader\uff09<\/h3>\n\n\n\n<p>\u5728\u61c9\u7528\u5c64\u4e2d\uff0c\u5f9e\u8a02\u95b1\u8005\u8b80\u53d6\u8cc7\u6599\u7684\u5b58\u5728\uff0c\u6bcf\u500b\u8cc7\u6599\u8b80\u53d6\u5668\u5c0d\u61c9\u4e00\u500b\u6307\u5b9a\u7684 Topic\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">6. \u4e3b\u984c\uff08Topic\uff09<\/h3>\n\n\n\n<p>Topic \u9700\u8981\u5b9a\u7fa9\u4e00\u500b\u540d\u7a31\u8207\u4e00\u7a2e\u8cc7\u6599\u7d50\u69cb\uff0c\u800c\u5728 ROS 2 \u4e2d\u6bcf\u500b\u4e3b\u984c\u7686\u70ba\u4e00\u500b\u5be6\u4f8b\uff0c\u53ef\u4ee5\u7528\u4f86\u5132\u5b58\u8a72 Topic \u4e2d\u7684\u6b77\u53f2\u8a0a\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">7. \u670d\u52d9\u54c1\u8cea\u539f\u5247\uff08Quality of Service Policy\uff09<\/h3>\n\n\n\n<p>\u9019\u662f\u5728 ROS 2 \u4e2d\u4e00\u500b\u975e\u5e38\u91cd\u8981\u7684\u6982\u5ff5\uff0c\u662f\u7528\u4f86\u63a7\u5236\u5404\u7a2e\u4e0d\u540c\u9762\u5411\u8207\u5e95\u5c64\u4e4b\u9593\u7684\u901a\u8a0a\u6a5f\u5236\u3002\u4e3b\u8981\u5f9e\u6b77\u53f2\u7d00\u9304\u3001\u6301\u7e8c\u6027\u3001\u53ef\u9760\u6027\u3001\u8010\u7528\u6027\u3001\u6df1\u5ea6\u7b49\u591a\u7a2e\u9762\u5411\u6eff\u8db3\u4f7f\u7528\u8005\u5c0d\u65bc\u4e0d\u540c\u5834\u666f\u7684\u8cc7\u6599\u4f7f\u7528\u9700\u6c42\uff0c\u5f8c\u7e8c\u5167\u5bb9\u5c07\u4ee5 QOS \u7c21\u7a31\u670d\u52d9\u54c1\u8cea\u539f\u5247\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u5c0f\u7d50<\/h2>\n\n\n\n<p>\u95b1\u8b80\u5b8c\u4e0a\u8ff0\u95dc\u65bc ROS 2 \u7684\u5167\u5bb9\u5f8c\uff0c\u5404\u4f4d\u5925\u4f34\u662f\u4e0d\u662f\u5c0d ROS 2 \u6709\u66f4\u6e05\u695a\u7684\u77ad\u89e3\u4e86\u5462\uff1f\u300c<strong><a href=\"https:\/\/www.circuspi.com\/?s=ROS+%E6%95%99%E5%AD%B8%E7%B3%BB%E5%88%97\" target=\"_blank\" rel=\"noreferrer noopener\">ROS \u6559\u5b78\u7cfb\u5217<\/a><\/strong>\u300d\u4e0b\u4e00\u7bc7\u6587\u7ae0\u8981\u70ba\u5927\u5bb6\u4ecb\u7d39 ROS 1\uff08Robot Operating System\uff09\u8207 ROS 2\uff08Robot Operating System 2\uff09\u7684\u5dee\u7570\u5594\uff01<\/p>\n\n\n\n<p>\u559c\u6b61\u6211\u5011\u6587\u7ae0\u7684\u5925\u4f34\u5011\uff0c\u5225\u5fd8\u4e86\u5e6b\u6211\u5011\u591a\u591a\u5206\u4eab\uff0c\u4e26\u4e14\u6301\u7e8c\u95dc\u6ce8\u6211\u5011\u5594\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u7bc7\u6587\u7ae0\u5c31\u8981\u5e36\u5927\u5bb6\u4e00\u8d77\u5b78\u7fd2 Robot Operating System 2(ROS 2) \u5230\u5e95\u662f\u4ec0\u9ebc\uff1f\u73fe\u5728\u5c31\u8ddf\u8457\u6211\u5011\u4e00\u8d77\u9032\u5165 ROS 2 \u7684\u4e16\u754c\u5427\uff01<\/p>\n","protected":false},"author":1,"featured_media":17630,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[34,238],"tags":[],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17519"}],"collection":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/comments?post=17519"}],"version-history":[{"count":15,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17519\/revisions"}],"predecessor-version":[{"id":20741,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17519\/revisions\/20741"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/17630"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=17519"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=17519"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=17519"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=17519"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}