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宋康帅
2026-08-05 18:17:25 +08:00
parent 61796dfa9f
commit b52cee9e39
34 changed files with 866 additions and 309 deletions
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doc/00-overview.md
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@@ -62,7 +62,7 @@
│ └───────────────────────────────────────────────────────┘ │
│ ┌───────────────────────────────────────────────────────┐ │
│ │ 11 个 ROS2 节点(运行时) │ │
│ │ talker/listener × 2 (py+cpp) │ │
│ │ chatter_publisher/subscriber × 2 (py+cpp) │ │
│ │ service server / action server │ │
│ │ joint_state_publisher + robot_state_publisher │ │
│ │ + tf2_listener + fake_camera + image_processor │ │
@@ -117,14 +117,13 @@ ROS2 所有节点通过 **DDS**(默认 fastdds)做发布订阅,**不直接 impor
└────────┬────────┬──────────┬──────────┬────────┬────────┘
│ │ │ │ │
┌─────▼───┐ ┌──▼──────┐ ┌▼────────┐ ┌▼─────┐ ┌▼─────────┐
│talker_py│ │fake_cam │ │joint_pub│ │srv │ │fibonacci │
│listener │ │image_ │ │robot_ │ │server│ │_server │
│ _py │ │processor│ │state_pub│ │ │ │ │
├─────────┤ ├─────────┤ ├─────────┤ └──────┘ └──────────┘
│talker_ │
│ cpp │ ← topic 互通(跨语言)
│listener │
│ _cpp │
│chatter_ │ │fake_cam │ │joint_ │ │add_ │ │fibonacci │
│publish_ │ │image_ │ │state_ │ │two_ │ │_action_ │
│er_py │ │processor│ │publisher│ │ints_ │ │server │
├─────────┤ ├─────────┤ ├─────────┤ │server│ └──────────┘
│chatter_ │
│publish_ │ ← topic 互通(跨语言)
│er_cpp │
└─────────┘
```
@@ -151,14 +150,23 @@ D:\xs\ros2\
│
├── build.sh / start.sh / start.ps1
│
├── src/
│ ├── py_pubsub/ ← Topic (Python)
│ ├── cpp_pubsub/ ← Topic (C++)
│ ├── py_srv/ ← Service (Python)
│ ├── py_action_demo/ ← Action (Python)
│ ├── cpp_robot_tf2/ ← TF2 + URDF (C++)
│ ├── py_vision_demo/ ← Image (Python)
│ └── bringup/ ← launch 聚合 (Python)
├── src/ ← 12 个 ROS2 包 + 4 个 L2 占位
│ ├── py_pubsub/ ← Topic (Python)
│ ├── cpp_pubsub/ ← Topic (C++)
│ ├── py_srv/ ← Service (Python)
│ ├── py_action_demo/ ← Action (Python)
│ ├── cpp_robot_tf2/ ← TF2 + URDF (C++)
│ ├── py_vision_demo/ ← Image (Python)
│ ├── py_params/ ← ⭐ 参数系统 (Python)
│ ├── cpp_custom_interface/ ← ⭐ 自定义 msg/srv/action (C++)
│ ├── py_lifecycle_composable/ ← ⭐ Lifecycle + Composable (Python)
│ ├── cpp_qos_demo/ ← ⭐ QoS 9 种组合 (C++)
│ ├── py_overlay_dds/ ← ⭐ DDS 配置 + colcon overlay (Python)
│ ├── bringup/ ← launch 聚合 (Python)
│ ├── gazebo_sim/ ← ⚪ L2 占位(待 Gazebo)
│ ├── moveit2_demo/ ← ⚪ L2 占位(待 MoveIt2)
│ ├── nav2_demo/ ← ⚪ L2 占位(待 Nav2)
│ └── ros2_control_demo/ ← ⚪ L2 占位(待 ros2_control)
│
└── doc/ ← 15 篇深度文档
├── 00-overview.md ← 本篇