機器人作業系統二（ROS2）- 啟程 Departure

是時候放下ROS1，開啟ROS2的旅程了。It's time to put down ROS1 and start the journey of ROS2.

ROS2官方線上文檔連結 ROS2 official online documentation：https://index.ros.org/doc/ros2/

ROS2教程文檔使用說明與為什麼選擇ROS2？ROS2 tutorial documentation instructions and why choose ROS2?https://blog.csdn.net/ZhangRelay/article/details/93601114

ROS2正常學習路徑 ROS2 regular learning path：

demos、navigation2 and moveit2

ROS2進階學習路徑 ROS2 advanced learning path：

others

學習分享從安裝配置開始，首先詳細介紹教程，然後是兩個專題：Navigation2和MoveIt!2。This article starts with ROS2 installation and configuration, first introduces the tutorial in detail, then two topics: Navigation2 and MoveIt!2.

安裝詳細過程 Installation detailed tutorial：ROS 2 Dashing Diademata安裝和使用文檔（含Linux、Windows和OS X）ROS 2 Dashing Diademata installation and documentation (including Linux, Windows and OS X)

ROS教程 ROS 2 tutorials：https://github.com/zhangrelay/ros2_tutorials

配置教程包 Tutorial package configuration：

下載下傳：git clone
編譯：colcon build
使用：ros2 run

colcon build

導入編譯的環境 Import the compiled environment：

source install/setup.bash

輸入ros2 run turtlesim，可以看到如下節點 Enter ros2 run turtlesim, you can see the following nodes：

draw_square --prefix turtle_teleop_key

mimic turtlesim_node

常用指令如下 Common commands are as follows：

ros2 run turtlesim turtlesim_node
ros2 topic list
ros2 run turtlesim draw_square
ros2 topic echo /turtle1/pose
……

更多内容參考下圖 For more details, please refer to the following figure：

歡迎大家下載下傳案例調試玩耍，更多内容後續介紹。You are welcome to download the case, debug and play, more will be introduced in subsequent articles.

思考題 Thinking：

回顧roslaunch，寫一個ros2 launch，同時啟動turtlesim_node和draw_spuare。Looking back at roslaunch, write a ros2 launch and start both the turtlesim_node and draw_spuare node.

擴充題 Extended：

對比ROS1和ROS2的turtlesim包，分析和思考兩代ROS程式設計和使用中的差異。Compare the turbulsim package of ROS1 and ROS2, analyze and think about the difference between the two generations of ROS in programming and use.

draw_square.launch.py

from launch import LaunchDescription
import launch_ros.actions

def generate_launch_description():
    return LaunchDescription([
        launch_ros.actions.Node(
            node_namespace= "ros2", package='turtlesim', node_executable='turtlesim_node', output='screen'),
        launch_ros.actions.Node(
            node_namespace= "ros2", package='turtlesim', node_executable='draw_square', output='screen'),
    ])

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