ROS 2 Crystal Clemmys版機器人作業系統補充說明

zhangrelay發表於2019-01-09
ROS機器人作業系統

古月大神更新ROS2的相關教程，推薦推薦。

之前，ROS 2 Crystal Clemmys版機器人作業系統安裝說明連結如下：

https://blog.csdn.net/ZhangRelay/article/details/85019662

ROS2Go全面支援ROS 1 Melodic和ROS 2 Crystal，並配套對應教程:-)---:-)

口袋機器人Cozmo/Vector，空中機器人Tello，Python，C++以及ROS1和ROS2教程開發完成。

很多小夥伴會有困惑，現在如何選擇ROS1和ROS2？如何多快好省的飛速入門ROS這款機器人開發工具？

This 14th of December of 2018, ROS2 Crystal Clemmys was released officially. It’s a very important step due to the fact that it adds enough new functionality versus its prior older brother ROS2 Bouncy Bolson to be a real option to consider to make the jump from ROS1 to ROS2.

So here are some of my findings and facts about ROS2 versus ROS1. Just bear in mind that crystal is evolving really fast and it wouldn’t be a surprise that more improvements appear in the near future.

2018年12月14日，ROS2 Crystal Clemmys正式釋出。這是一個非常重要的節點，因為它增加了足夠的新功能，而不是之前的ROS2 Bouncy Bolson，ROS2 Crystal Clemmys是一個真正的選擇，可以考慮從ROS1跳轉到ROS2。

所以這裡有一些關於ROS2與ROS1的研究結果和事實。請記住，ROS2 Crystal Clemmys的發展速度非常快，在不久的將來會出現更多改進並不奇怪。

更多內容參考如下連結：

www.theconstructsim.com/ros2-vs-ros1/

當然，ros1和ros2都有官方版本的Official Docker Images，更多內容參考OSRF專案官方映像的Dockerfiles，包括Docker Hub上的儲存庫：

github.com/osrf/docker_images

對比學習，對於充分掌握ROS非常重要！

如rosrun和ros2 run???

relaybot@TPS2:~/RobTool/Cozmo/nros$ ros2 -h
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...

ros2 is an extensible command-line tool for ROS 2.

optional arguments:
  -h, --help            show this help message and exit

Commands:
  daemon     Various daemon related sub-commands
  launch     Run a launch file
  lifecycle  Various lifecycle related sub-commands
  msg        Various msg related sub-commands
  multicast  Various multicast related sub-commands
  node       Various node related sub-commands
  param      Various param related sub-commands
  pkg        Various package related sub-commands
  run        Run a package specific executable
  security   Various security related sub-commands
  service    Various service related sub-commands
  srv        Various srv related sub-commands
  topic      Various topic related sub-commands

  Call `ros2 <command> -h` for more detailed usage.

Melodic-ros1（rviz1）：

Crystal-ros2（rviz2）：

Fin

 

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