fix

doc/100-embedded-deployment.md

@@ -361,7 +361,7 @@ sudo apt install -y \
   ros-humble-sensor-msgs \
   ros-humble-geometry-msgs \
   ros-humble-rmw-fastrtps-cpp \
-  ros-humble-ros2control \
+  ros-humble-ros2-control \
   python3-colcon-common-extensions
 
 # 检查内存
@@ -376,13 +376,10 @@ ROS2 默认启动 `ros2 daemon` 加速 `ros2 ...` 命令调用,但每节点起
 ```bash
 # 停 + 禁启 daemon
 pkill -9 -f ros2_daemon 2>/dev/null
-echo 'unset ROS_DAEMON_PYTHON_OR_EXECUTABLE' >> ~/.bashrc
 
-# 或 alias,直接绕过 daemon
-cat >> ~/.bashrc <<'EOF'
-alias ros2='ros2 --no-daemon'
-EOF
-source ~/.bashrc
+# 注:`alias ros2='ros2 --no-daemon'` 写到 ~/.bashrc **不会传给子脚本**(脚本里 `ros2` 不展开 alias)。
+#      Humble 里 `ros2 topic ... --no-daemon` 这个 flag 已被 deprecated,改用下面的方案:
+#      设 CYCLONE_DDS_URI / FASTRTPS_DEFAULT_PROFILES_FILE 走静态发现,从根本上不用 daemon
 
 # 验证: 不再起 daemon
 ps aux | grep -v grep | grep -i daemon | head -3
@@ -422,6 +419,8 @@ cat > ~/.ros/fastdds.xml <<'EOF'
 
         <discovery_config>
           <discoveryProtocol>SIMPLE</discoveryProtocol>
+          <!-- discoveryStrategy 决定 SIMPLE 的语义:STATIC(只连 initialPeersList)/ NONE(全不主动连)/ MULTICAST(默认)
+               跟 <initialPeersList> 配合才能实现"单播静态发现" -->
           <discoveryStrategy>STATIC</discoveryStrategy>
           <leaseDuration>30</leaseDuration>
         </discovery_config>
@@ -484,8 +483,8 @@ source /opt/ros/humble/setup.bash
 source ~/ros2_ws/install/setup.bash
 export ROS_DOMAIN_ID=0
 
-# 跑 cpp_robot_tf2 的关节发布者
-ros2 run cpp_robot_tf2 joint_state_publisher
+# 跑 cpp_robot_tf2 的关节发布者(executable 名是 joint_state_publisher_cpp,不是 joint_state_publisher)
+ros2 run cpp_robot_tf2 joint_state_publisher_cpp
 
 # 预期
 [joint_state_publisher_cpp]: joint_state_publisher_cpp started, joints: 3
@@ -572,14 +571,14 @@ ros2 run py_vision_demo fake_camera  # 或你写的 YOLO 节点
 ssh user@192.168.1.31
 source /opt/ros/humble/setup.bash
 source ~/ros2_ws/install/setup.bash
-ros2 run cpp_robot_tf2 joint_state_publisher
+ros2 run cpp_robot_tf2 joint_state_publisher_cpp
 # (后续:接真实电机时改读编码器)
 
 # === 在 PC 上监控全部 ===
-docker exec ros2_dev bash -lc "ros2 node list --no-daemon"
-# 看到 /fake_camera_py (RDK X5), /joint_state_publisher_cpp (RK3506)
+docker exec ros2_dev bash -lc "ros2 node list"
+# 看到 /fake_camera (RDK X5), /joint_state_publisher (RK3506,launch 重命名去掉了 _cpp 后缀)
 
-docker exec ros2_dev bash -lc "ros2 topic hz /image_raw /joint_states --no-daemon"
+docker exec ros2_dev bash -lc "ros2 topic hz /image_raw /joint_states"
 # /image_raw: ~10Hz
 # /joint_states: ~20Hz
 ```
@@ -597,11 +596,11 @@ ros2 run py_vision_demo fake_camera  # 1 节点
 
 # === RK3506 #1 ===
 ssh user@192.168.1.31
-ros2 run cpp_robot_tf2 joint_state_publisher  # 1 节点
+ros2 run cpp_robot_tf2 joint_state_publisher_cpp  # 1 节点
 
 # === RK3506 #2 ===
 ssh user@192.168.1.32
-ros2 run cpp_robot_tf2 tf2_listener  # 1 节点
+ros2 run cpp_robot_tf2 tf2_listener_cpp  # 1 节点
 
 # === 在任一设备看 ===
 ros2 node list --no-daemon
@@ -793,7 +792,8 @@ echo $ROS_DOMAIN_ID   # 三机都要一样
 
 切单播 (4.5 节):
 ```bash
-export ROS_STATIC_PEERS="192.168.1.10:7400;192.168.1.20:7400"
+# 分隔符是英文逗号 `,`,不是分号 `;`(FastDDS 默认)
+export ROS_STATIC_PEERS="192.168.1.10:7400,192.168.1.20:7400"
 ```
 
 ### 9.3 RK3506 内存不足