{"id":17532,"date":"2022-09-26T09:30:00","date_gmt":"2022-09-26T01:30:00","guid":{"rendered":"https:\/\/www.circuspi.com\/?p=17532"},"modified":"2023-10-30T13:35:29","modified_gmt":"2023-10-30T05:35:29","slug":"ros1-ros2-difference","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2022\/09\/26\/ros1-ros2-difference\/","title":{"rendered":"ROS \u6559\u5b78\u7cfb\u5217(\u4e09)\uff0dROS 1 \u8207 ROS 2 \u7684\u5dee\u7570"},"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\/1000x526-3.jpg\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u4e09)\uff0dROS 1 \u8207 ROS 2 \u7684\u5dee\u7570\" class=\"wp-image-17645\"\/><\/figure>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u5c07\u5f9e\u7cfb\u7d71\u67b6\u69cb\u3001\u7528\u6236\u7aef\u7684\u7a0b\u5f0f\u8a9e\u8a00\u3001\u4f7f\u7528\u73fe\u6709\u7684\u4e2d\u4ecb\u8edf\u9ad4\u5c64\u8207\u7de8\u8b6f\u7cfb\u7d71\u56db\u500b\u91cd\u9ede\uff0c\u8aaa\u660e ROS 1 \u8207 ROS 2 \u4e4b\u9593\u7684\u5dee\u7570\u6027\uff0c\u82e5\u60f3\u77ad\u89e3\u66f4\u8a73\u7d30\u7684\u5dee\u7570\uff0c\u53ef\u4ee5\u53c3\u8003\u300c<a href=\"http:\/\/design.ros2.org\/articles\/changes.html\" target=\"_blank\" rel=\"noreferrer noopener\">Changes between ROS 1 and ROS 2<\/a>\u300d\uff0c\u6700\u5f8c\u6703\u4f9d\u64da\u4f7f\u7528\u8005\u7684\u8eab\u5206\u70ba\u5927\u5bb6\u5206\u6790\u61c9\u8a72\u4f7f\u7528 ROS 1 \u6216\u662f ROS 2 \u7684\u6642\u6a5f\u3002<\/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\u7cfb\u7d71\u67b6\u69cb<\/h2>\n\n\n\n<p>ROS 1 \u8207 ROS 2 \u5728\u4f7f\u7528\u4e0a\u7684\u6700\u5927\u5dee\u7570\u6027\uff0c\u5728\u65bc\u5404\u500b\u7bc0\u9ede\u4e4b\u9593\u7684\u9023\u63a5\u65b9\u5f0f\uff0c\u6211\u5011\u5c07\u4ee5\u4e0b\u5716\u8aaa\u660e ROS 1 \u8207 ROS 2 \u7684\u7cfb\u7d71\u67b6\u69cb\u5dee\u7570\u6027\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/62F7GnTWGKwCq7FOpe1l-Ohn4irzSga5YxvWusR5-8usDFIW1E6ERzYlaAdF3pZvl5UDDs6PivIT92SUs3EW5zW2RtYtEpPs76x0hXirbyZ5CluzpZD6VY_SoaxFkovMNk3xaZ6hmTzE6eDq7YBjcuBqaZRFbBkVigzIH3mUQFN0E9r4T6HWz5sd7A\" alt=\"\"\/><\/figure><\/div>\n\n\n<h3 class=\"wp-block-heading\">1. \u7cfb\u7d71\u5c64\uff08Operating System Layer\uff09<\/h3>\n\n\n\n<p>\u30fb ROS 1 \u50c5\u652f\u63f4 Linux \u7cfb\u7d71\uff0c\u4e0d\u904e\u5728 2018 \u5e74\u6642\uff0c\u5fae\u8edf\u5ba3\u5e03\u5728 Windows 10 \u4e0a\u4e5f\u80fd\u5920\u4ee5\u5be6\u9a57\u6027\u8cea\u7684\u65b9\u5f0f\u5b89\u88dd ROS 1\u3002<\/p>\n\n\n\n<p>\u30fb ROS 2 \u5247\u80fd\u5920\u652f\u63f4\u8f03\u591a\u7684\u4f5c\u696d\u7cfb\u7d71\uff0c\u5982\uff1aLinux\u3001Windows\u3001Mac\u3001RTOS\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>\u30fb ROS 1 \u63a1\u7528 TCPROS\/UDPROS \u70ba\u901a\u8a0a\u6a19\u6e96\u3002<\/p>\n\n\n\n<p>\u30fb ROS 2 \u5247\u662f\u4f7f\u7528 DDS \u70ba\u901a\u8a0a\u6a19\u6e96\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u61c9\u7528\u5c64\uff08Application Layer\uff09<\/h3>\n\n\n\n<p>\u30fb ROS 1 \u9700\u8981\u4f7f\u7528\u4e3b\u7bc0\u9ede\uff08Master Node\uff09\u9023\u63a5\u5176\u9918\u7bc0\u9ede\uff0c\u56e0\u6b64\u82e5\u662f\u4e3b\u7bc0\u9ede\u5931\u53bb\u4f5c\u7528\uff0c\u5247\u6574\u500b ROS 1 \u7cfb\u7d71\u5c07\u6703\u7121\u6cd5\u4f7f\u7528\u3002<\/p>\n\n\n\n<p>\u30fb ROS 2 \u4f7f\u7528\u5206\u5e03\u5f0f\u767c\u73fe\u6a5f\u5236\uff08distributed discovery process\uff09\u9023\u7d50\u7bc0\u9ede\uff0c\u82e5\u662f\u5176\u4e2d\u4e00\u500b\u7bc0\u9ede\u5931\u53bb\u4f5c\u7528\uff0c\u4e26\u4e0d\u81f3\u65bc\u8b93\u6574\u500b ROS 2 \u7cfb\u7d71\u505c\u64fa\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u7528\u6236\u7aef\u7684\u7a0b\u5f0f\u8a9e\u8a00<\/h2>\n\n\n\n<p>ROS \u7684\u76ee\u7684\u662f\u70ba\u4e86\u63d0\u9ad8\u7a0b\u5f0f\u78bc\u7684\u4f7f\u7528\u7387\uff0c\u56e0\u6b64\u4e0d\u8ad6\u662f ROS 1 \u6216 ROS 2\uff0c\u7686\u80fd\u5920\u652f\u63f4\u591a\u7a2e\u7a0b\u5f0f\u8a9e\u8a00\u8b93\u958b\u767c\u8005\u9032\u884c\u4f7f\u7528\u3002\u4e0b\u9762\u6211\u5011\u5c07\u4ee5\u958b\u767c\u8005\u6700\u5e38\u4f7f\u7528\u7684\u5169\u7a2e\u7a0b\u5f0f\u8a9e\u8a00\u9032\u884c\u5dee\u7570\u6027\u7684\u6bd4\u8f03\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. C++<\/h3>\n\n\n\n<p>\u30fb ROS 1 \u4e2d\uff0c \u4e3b\u8981\u662f\u4ee5 C++ 03 \u4f5c\u70ba\u6838\u5fc3\uff0c \u4e26\u4e14\u7121\u6cd5\u4f7f\u7528 C++ 11 \u7684 API\uff08Application Programming Interface\uff09\u7279\u6027\u3002<\/p>\n\n\n\n<p>\u30fb ROS 2 \u5ee3\u6cdb\u5730\u4f7f\u7528C++ 11 \u7684\u7279\u6027\uff0c\u4e26\u4e14\u5728\u6700\u65b0\u7684\u9577\u671f\u652f\u63f4\u7248\u672c Foxy \u4e2d\u4f7f\u7528\u4e86 C++ 14\uff0c\u9810\u8a08\u4e4b\u5f8c\u7684\u7248\u672c\u5c07\u6703\u4f7f\u7528 C++ 17 \u505a\u70ba\u4e3b\u8981\u7684\u5e73\u53f0\u4f7f\u7528\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. Python<\/h3>\n\n\n\n<p>\u30fb ROS 1 \u4e2d\uff0c\u4ee5 Python 2 \u4f5c\u70ba\u6838\u5fc3\uff0c\u4e0d\u904e\u5728\u6700\u65b0\u7684 ROS 1 -Noetic \u7248\u672c\u4e2d\u5247\u662f\u4ee5 Python 3 \u4f5c\u70ba\u6838\u5fc3\u3002<\/p>\n\n\n\n<p>\u30fb ROS 2 \u5247\u662f\u4f7f\u7528 Python 3.5 \u4ee5\u4e0a\u4f5c\u70ba\u6838\u5fc3\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u4f7f\u7528\u73fe\u6709\u7684\u4e2d\u4ecb\u8edf\u9ad4\u5c64<\/h2>\n\n\n\n<p>\u30fb ROS 1 \u4f7f\u7528\u81ea\u8a02\u7fa9\u7684\u5e8f\u5217\u5316\u683c\u5f0f\u3001\u50b3\u8f38\u5354\u5b9a\u8207\u4e2d\u5fc3\u63a2\u7d22\u6a5f\u5236\u3002<\/p>\n\n\n\n<p>\u30fb ROS 2 \u64c1\u6709\u62bd\u8c61\u5316\u4e2d\u4ecb\u8edf\u9ad4\u4ecb\u9762\u652f\u63f4\u5e8f\u5217\u5316\u3001\u50b3\u8f38\u8207\u63a2\u7d22\u6a5f\u5236\uff0c\u4e26\u4e14\u57fa\u65bc DDS \u6a19\u6e96\u4e0a\u5be6\u73fe\u529f\u80fd\uff0c\u9019\u4e5f\u8b93 ROS 2 \u80fd\u5920\u63d0\u4f9b QOS \u4ee5\u6539\u5584\u4f4d\u65bc\u5404\u7a2e\u4e0d\u540c\u7db2\u8def\u4e0a\u7684\u901a\u8a0a\u54c1\u8cea\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u7de8\u8b6f\u7cfb\u7d71<\/h2>\n\n\n\n<p>\u30fb ROS 1 \u5728 groovy \u7248\u672c\u4e4b\u5f8c\u63a1\u7528 catkin \u7de8\u8b6f\u7cfb\u7d71\uff0c\u9019\u662f\u4ee5 Cmake \u70ba\u4e2d\u5fc3\u7684\u7de8\u8b6f\u7cfb\u7d71\uff0c\u56e0\u6b64\u5c31\u7b97\u4f7f\u7528\u8005\u7684 ROS 1 \u529f\u80fd\u5957\u4ef6\u5305\u5b8c\u5168\u4ee5 Python \u64b0\u5beb\uff0c\u4e5f\u5fc5\u9808\u7531 Cmake \u9032\u884c\u8655\u7406\uff0c\u7136\u800c Cmake \u4e26\u4e0d\u652f\u63f4 Python setuptools \u4e2d\u7684\u6240\u6709\u529f\u80fd\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u5728 Windows \u7cfb\u7d71\u4e0a\u4e5f\u8f03\u4e0d\u5bb9\u6613\u79fb\u690d Cmake \u5c08\u6848\u3002<\/p>\n\n\n\n<p>\u30fb ROS 2 \u5728\u6700\u65b0\u7684\u9577\u671f\u652f\u63f4\u7248\u672c Foxy \u4e2d\uff0c\u4f7f\u7528\u4e86 colcon \u7de8\u8b6f\u7cfb\u7d71\uff0c\u53ef\u642d\u914d ament_tools \u5c0d\u4f7f\u7528 Python \u7684\u529f\u80fd\u5957\u4ef6\u5305\u9032\u884c\u7de8\u8b6f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001 ROS 1 \u8207 ROS 2 \u5dee\u7570\u6bd4\u8f03\u8868<\/h2>\n\n\n\n<figure class=\"wp-block-table aligncenter\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\">\u9805\u76ee<\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong>ROS 1<\/strong><\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong> ROS 2<\/strong><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">\u7cfb\u7d71\u5c64<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u671f\u50c5\u80fd\u4f7f\u7528\u5b98\u65b9\u7dad\u8b77\u7684 Linux\uff0c\u5f8c\u7e8c\u65b0\u589e\u7b2c\u4e09\u65b9\u793e\u7fa4\u81ea\u884c\u958b\u767c\u7684\u7cfb\u7d71<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u652f\u63f4 Linux\u3001Windows\u3001Mac\u3001RTOS<br><br><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">\u4e2d\u4ecb\u8edf\u9ad4<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u4f7f\u7528 TCPROS\/UDPROS \u901a\u8a0a\u6a19\u6e96\uff0c \u9019\u4f7f\u5f97\u6bcf\u500b\u6a5f\u5668\u4eba IP \u4f4d\u5740\u7686\u9700\u8981\u7279\u5225\u6307\u5b9a\uff0c\u4e26\u4e14\u9700\u8981\u6307\u5b9a\u5176\u4e2d\u4e00\u53f0\u6a5f\u5668\u4eba\u4f5c\u70ba\u4e3b\u8981\u7bc0\u9ede(Master Node) \u7684\u8f09\u9ad4\uff0c\u6240\u6709\u6a5f\u5668\u4eba\u7686\u9808\u8981\u900f\u904e\u4e3b\u8981\u7bc0\u9ede\u624d\u80fd\u5920\u8207\u5176\u4ed6\u6a5f\u5668\u4eba\u9032\u884c\u9023\u7d50<br><br><br><img loading=\"lazy\" decoding=\"async\" width=\"565\" height=\"429\" class=\"wp-image-17583\" style=\"width: 350px;\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/09\/1.png\" alt=\"\"><\/td><td class=\"has-text-align-center\" data-align=\"center\">\u4f7f\u7528\u8cc7\u6599\u5206\u5e03\u670d\u52d9 DDS(Data Distribution Service)\u901a\u8a0a\u6a19\u6e96\u900f\u904e\u5168\u5c40\u8cc7\u6599\u7a7a\u9593(Global Data Space)\u7684\u6982\u5ff5\uff0c\u9019\u8b93\u6240\u6709\u6a5f\u5668\u4eba\u50c5\u9700\u8981\u8a2d\u5b9a\u4e00\u500b\u300c\u9818\u57df ID(Domain ID) \u300d\uff0c\u5373\u53ef\u4e92\u76f8\u901a\u8a0a\uff0c\u6bcf\u500b\u6a5f\u5668\u4eba\u7686\u53ef\u81ea\u884c\u63a5\u6536\u8207\u767c\u5e03\u8a0a\u606f\u3002<br><img loading=\"lazy\" decoding=\"async\" width=\"646\" height=\"610\" class=\"wp-image-17582\" style=\"width: 350px;\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/09\/2.png\" alt=\"\"><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">\u61c9\u7528\u5c64<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u4f7f\u7528\u4e3b\u7bc0\u9ede(Master Node)\u9023\u63a5\u5176\u9918\u7bc0\u9ede\uff0c\u56e0\u6b64\u82e5\u662f\u4e3b\u7bc0\u9ede\u5931\u53bb\u4f5c\u7528\uff0c\u5247\u6574\u500b ROS 1 \u7cfb\u7d71\u5c07\u6703\u7121\u6cd5\u4f7f\u7528\u3002<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u4f7f\u7528\u5206\u5e03\u5f0f\u767c\u73fe\u6a5f\u5236(distributed discovery process)\u9023\u7d50\u7bc0\u9ede\uff0c\u82e5\u662f\u5176\u4e2d\u4e00\u500b\u7bc0\u9ede\u5931\u53bb\u4f5c\u7528\uff0c\u5247\u4e0d\u81f3\u65bc\u8b93\u6574\u500b ROS 2 \u7cfb\u7d71\u505c\u64fa\u3002<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">\u4e3b\u6d41\u7a0b\u5f0f<br>\u8a9e\u8a00\u5dee\u7570<\/td><td class=\"has-text-align-center\" data-align=\"center\">C++ 03<br>Python 2<br>Python 3(Noetic)<\/td><td class=\"has-text-align-center\" data-align=\"center\">C++14(Foxy)<br>C++17(future version)<br>Python 3.5(at least)<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">\u7de8\u8b6f\u7cfb\u7d71<\/td><td class=\"has-text-align-center\" data-align=\"center\">catkin<\/td><td class=\"has-text-align-center\" data-align=\"center\">colcon<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u4f7f\u7528 ROS 1 \/ ROS 2 \u7684\u6642\u6a5f\uff1f<\/h2>\n\n\n\n<p>ROS 2 \u9810\u8a08\u5728 2023 \u5e74\u5b8c\u5168\u53d6\u4ee3 ROS 1\uff0c\u4f46\u9019\u4e5f\u4e26\u4e0d\u610f\u8b02\u8457 ROS 1 \u5c07\u6703\u88ab\u505c\u6b62\u66f4\u65b0\uff0cROS 1 \u6700\u65b0\u4e5f\u662f\u6700\u5f8c\u7684\u9577\u671f\u652f\u63f4\u7248\u672c Noetic \u9810\u8a08\u5c07\u6703\u5728 2025 \u5e74\u505c\u6b62\u66f4\u65b0\u3002\u90a3\u9ebc\u73fe\u5728\u5230\u5e95\u8a72\u4f7f\u7528 ROS 1 \u9084\u662f ROS 2 \u5462\uff1f\u4ee5\u4e0b\u5c07\u6703\u4ee5\u4f7f\u7528\u8005\u7684\u8eab\u5206\u985e\u5225\u5411\u5927\u5bb6\u5206\u6790\u4f7f\u7528 ROS 1 \u6216\u662f ROS 2 \u7684\u6642\u6a5f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u5b78\u7fd2\u8005<\/h3>\n\n\n\n<p>\u53ef\u4ee5\u64c1\u6709\u66f4\u8c50\u5bcc\u7684\u8cc7\u6e90\uff0c\u9019\u5c07\u6703\u589e\u52a0\u5b78\u7fd2\u7684\u6548\u7387\u8207\u901f\u5ea6\uff0cROS 1 \u5728\u7d93\u6b77\u5c07\u8fd1 15 \u5e74\u7684\u767c\u5c55\u5f8c\uff0c\u5df2\u7d93\u7a4d\u7d2f\u4e86\u76f8\u7576\u591a\u7684\u958b\u6e90\u529f\u80fd\u5957\u4ef6\u5305\u53ef\u4f9b\u4f7f\u7528\uff0c\u5b78\u7fd2\u8005\u5c07\u53ef\u4ee5\u900f\u904e\u5927\u91cf\u7684\u958b\u6e90\u529f\u80fd\u5957\u4ef6\u5305\uff0c\u77ad\u89e3 ROS 1 \u7684\u8a2d\u8a08\u67b6\u69cb\u8207\u9075\u5faa\u6a19\u6e96\u3002<\/p>\n\n\n\n<p>\u95dc\u65bcROS 1 \u958b\u6e90\u529f\u80fd\u5957\u4ef6\u5305\u8acb\u53c3\u8003 ROS Index \u5b98\u65b9\u6587\u4ef6\uff0cROS 1 \u7684\u9075\u5faa\u6a19\u6e96\u8acb\u53c3\u8003Index of ROS Enhancement Proposals (REPs)\u3002\u4e26\u4e14\u73fe\u5728\u7684\u7db2\u969b\u7db2\u8def\u6280\u8853\u662f\u57fa\u65bcTCP\/IP \u901a\u8a0a\u5354\u5b9a\u5f62\u6210\u7684\u7db2\u969b\u7db2\u8def\uff0cROS 1 \u4e5f\u900f\u904e\u6b64\u9805\u5354\u5b9a\u5b8c\u6210\u591a\u6a5f\u901a\u8a0a\uff0c\u5c0d\u65bc\u719f\u6089\u73fe\u4ee3\u7db2\u969b\u7db2\u8def\u6280\u8853\u7684\u5b78\u7fd2\u8005\u5011\u6703\u662f\u8f03\u70ba\u5bb9\u6613\u7406\u89e3\u8207\u914d\u7f6e\u7684\u529f\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u958b\u767c\u8005<\/h3>\n\n\n\n<p>ROS 2 \u662f\u5728 ROS 1 \u7684\u57fa\u790e\u4e0a\u6539\u9032\u7684\u65b0\u4e16\u4ee3\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71\uff0c\u56e0\u6b64\u5728\u719f\u6089 ROS 1 \u7684\u57fa\u790e\u4e0a\uff0c\u5c07\u80fd\u5920\u66f4\u5bb9\u6613\u3001\u5feb\u901f\u5730\u7406\u89e3 ROS 2 \u8a2d\u8a08\u67b6\u69cb\u3002<\/p>\n\n\n\n<p>ROS 1 \u7684\u6700\u65b0\u7248\u672c Noetic \u9810\u8a08\u652f\u63f4\u5230 2025 \u5e74\uff0c\u4e26\u4e14\u5728 ROS Discourse \u6709\u591a\u4eba\u8a0e\u8ad6 ROS 2 \u9810\u8a08\u5728 2023 \u5e74\u5b8c\u5168\u53d6\u4ee3 ROS 1\u3002\u96d6\u7136 ROS 2 \u5168\u9762\u53d6\u4ee3 ROS 1 \u7684\u78ba\u5207\u6642\u9593\u9ede\u5c1a\u6709\u5f85\u78ba\u5b9a\uff0c\u4f46 ROS 2 \u53d6\u4ee3 ROS 1 \u78ba\u5be6\u662f\u4e00\u4ef6\u6b63\u5728\u9032\u884c\u7684\u4e8b\uff0c\u4e26\u4e14 ROS 2 Foxy \u7248\u672c\u5df2\u8db3\u5920\u6210\u719f\uff0c\u53ef\u4ee5\u8b93\u958b\u767c\u8005\u5275\u9020\u51fa\u7b26\u5408\u771f\u5be6\u4e16\u754c\u7684\u6a5f\u5668\u4eba\u61c9\u7528\u7a0b\u5f0f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e03\u3001\u5c0f\u7d50<\/h2>\n\n\n\n<p>\u95b1\u8b80\u5b8c\u4e0a\u8ff0\u7684\u5167\u5bb9\u5f8c\uff0c\u5404\u4f4d\u662f\u4e0d\u662f\u5c0d\u65bc ROS 1 \u8207 ROS 2 \u7684\u5dee\u7570\u6709\u66f4\u9032\u4e00\u6b65\u7684\u8a8d\u8b58\u4e86\u5462\uff1f\u4e0b\u4e00\u7bc7<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>\u6211\u5011\u5c07\u8981\u8ddf\u5927\u5bb6\u5206\u4eab\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f<\/p>\n\n\n\n<p>\u5982\u679c\u559c\u6b61\u6211\u5011\u7684\u6587\u7ae0\uff0c\u8acb\u5927\u5bb6\u591a\u591a\u5206\u4eab\u8207\u652f\u6301\uff0c\u4e26\u6301\u7e8c\u95dc\u6ce8\u6211\u5011\u6700\u8a73\u7d30\u7684 ROS \u6559\u5b78\u7cfb\u5217\u5594\uff01 <\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u7bc7\u6587\u7ae0\u5c07\u5f9e\u7cfb\u7d71\u67b6\u69cb\u3001\u7528\u6236\u7aef\u7684\u7a0b\u5f0f\u8a9e\u8a00\u3001\u4f7f\u7528\u73fe\u6709\u7684\u4e2d\u4ecb\u8edf\u9ad4\u5c64\u8207\u7de8\u8b6f\u7cfb\u7d71\u56db\u500b\u91cd\u9ede\uff0c\u8aaa\u660e ROS 1 \u8207 ROS 2 \u4e4b\u9593\u7684\u5dee\u7570\u6027\uff0c\u82e5\u60f3\u77ad\u89e3\u66f4\u8a73\u7d30\u7684\u5dee\u7570\uff0c\u53ef\u4ee5\u53c3\u8003\u300cChanges between ROS 1 and ROS 2\u300d\uff0c\u6700\u5f8c\u6703\u4f9d\u64da\u4f7f\u7528\u8005\u7684\u8eab\u5206\u70ba\u5927\u5bb6\u5206\u6790\u61c9\u8a72\u4f7f\u7528 ROS 1 \u6216\u662f ROS 2 \u7684\u6642\u6a5f\u3002<\/p>\n","protected":false},"author":1,"featured_media":17646,"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\/17532"}],"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=17532"}],"version-history":[{"count":27,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17532\/revisions"}],"predecessor-version":[{"id":20740,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17532\/revisions\/20740"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/17646"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=17532"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=17532"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=17532"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=17532"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}