# ROS2_Learning

**Repository Path**: dev_gitee/ROS2_Learning

## Basic Information

- **Project Name**: ROS2_Learning
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-27
- **Last Updated**: 2025-12-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS2 学习

[![ROS2 version](https://img.shields.io/badge/ROS2-humble-blue?logo=ros)](https://docs.ros.org/en/humble/index.html)
[![Ubuntu version](https://img.shields.io/static/v1?label=Ubuntu&message=22.04&color=e95420&logo=ubuntu)](https://releases.ubuntu.com/22.04/)
[![Python code style](https://img.shields.io/badge/code%20style-black-000000?logo=python)](https://github.com/psf/black)

## 说明

对应课程：[赵虚左 - ROS2理论与实践核心篇](https://space.bilibili.com/1101432368/channel/collectiondetail?sid=700208)

![课程封面](resources/images/course_cover.jpg)

仅使用 Git 管理了 src 目录下的源代码，与本地配置相关的开发配置文件、install 目录下的编译结果不做同步。

## 目录

每个 **wsXX_XXX** 为工作空间级目录，**cpp00_xxx** 或 **py00_xxx** 为功能包级目录。

### [ws00_helloworld](ws00_helloworld/) - ROS2 "Hello World" 初体验

- [pkg01_helloworld_cpp](ws00_helloworld/src/pkg01_helloworld_cpp/) - C++ 版 "Hello world"
- [pkg02_helloworld_py](ws00_helloworld/src/pkg02_helloworld_py/) - Python 版 "Hello world"

### [ws01_plumbing](ws01_plumbing/) - 通信机制

- [base_interfaces_demo](ws01_plumbing/src/base_interfaces_demo/) - 存储各种通信接口定义文件的辅助功能包
- [tutorails_plumbing](ws01_plumbing/src/tutorails_plumbing/) - 元功能包
- [cpp01_topic](ws01_plumbing/src/cpp01_topic/) - 话题通信（C++ 实现）
- [py01_topic](ws01_plumbing/src/py01_topic/) - 话题通信（Python 实现）
- [cpp02_service](ws01_plumbing/src/cpp02_service/) - 服务通信（C++ 实现）
- [py02_service](ws01_plumbing/src/py02_service/) - 服务通信（Python 实现）
- [cpp03_action](ws01_plumbing/src/cpp03_action/) - 动作通信（C++ 实现）
- [py03_action](ws01_plumbing/src/py03_action) - 动作通信（Python 实现）
- [cpp04_param](ws01_plumbing/src/cpp04_param/) - 参数服务（C++ 实现）
- [py04_param](ws01_plumbing/src/py04_param/) - 参数服务（Python 实现）
- [cpp05_names](ws01_plumbing/src/cpp05_names/) - 节点命名空间、话题命名空间、话题重命名等（C++）
- [cpp05_names_launch](ws01_plumbing/src/cpp05_names/launch/) - 通过launch文件修改节点、话题名称
- [py05_names](ws01_plumbing/src/py05_names/) - 节点命名空间、话题命名空间、话题重命名等（Python）

### [ws02_time](ws02_time/) - 时间相关 API 的使用

- [cpp01_time](ws02_time/src/cpp01_time) - 时间相关 API（C++）
  - [demo01_time](ws02_time/src/cpp01_time/src/demo01_time.cpp) - Time, Duration
  - [demo02_time_calculation](ws02_time/src/cpp01_time/src/demo02_time_calculation.cpp) - 时间相关的计算
- [py01_time](ws02_time/src/py01_time) - 时间相关 API（Python）
  - [demo01_time_py](ws02_time/src/py01_time/py01_time/demo01_time_py.py) - Time, Duration
  - [demo02_time_calculation](ws02_time/src/py01_time/py01_time/demo02_time_calculation.py) - 时间相关的计算

### [ws03_exercise](ws03_exercise/) - 期中大作业

- [cpp01_topic_exercise](ws03_exercise/src/cpp01_topic_exercise/) - 话题通信案例
- [cpp02_service_exercise](ws03_exercise/src/cpp02_service_exercise/) - 服务通信案例
- [cpp03_action_exercise](ws03_exercise/src/cpp03_action_exercise/) - 动作通信案例
- [cpp04_param_exercise](ws03_exercise/src/cpp04_param_exercise/) - 服务通信案例

### [ws04_tools](ws04_tools/) - launch、rosbag2、tf坐标变换

[py01_launch](ws04_tools/src/py01_launch) - Python 功能包中使用 launch 示例

[cpp01_launch](ws04_tools/src/cpp01_launch) - C++ 功能包中使用 launch 示例

- [Python 版 launch 文件](ws04_tools/src/cpp01_launch/launch/py)
  - [py01_helloworld_launch](ws04_tools/src/cpp01_launch/launch/py/py01_helloworld_launch.py) - launch 基本示例（Python版）
  - [py02_node_launch](ws04_tools/src/cpp01_launch/launch/py/py02_node_launch.py) - Node 节点使用
  - [py03_cmd_launch](ws04_tools/src/cpp01_launch/launch/py/py03_cmd_launch.py) - 执行命令
  - [py04_args_launch](ws04_tools/src/cpp01_launch/launch/py/py04_args_launch.py) - 参数设置
  - [py05_include_launch](ws04_tools/src/cpp01_launch/launch/py/py05_include_launch.py) - 文件包含
  - [py06_group_launch](ws04_tools/src/cpp01_launch/launch/py/py06_group_launch.py) - 分组
  - [py07_event_launch](ws04_tools/src/cpp01_launch/launch/py/py07_event_launch.py) - 事件
- XML 与 yaml 版 launch 文件
  - [xml01_helloworld_launch](ws04_tools/src/cpp01_launch/launch/xml/xml01_helloworld_launch.xml) - launch 基本示例（XML）
  - [yaml01_helloworld_launch](ws04_tools/src/cpp01_launch/launch/yaml/yaml01_helloworld_launch.yaml) - launch 基本示例（YAML）
  - [xml02_node_launch](ws04_tools/src/cpp01_launch/launch/xml/xml02_node_launch.xml) - Node节点使用（XML）
  - [yaml02_node_launch](ws04_tools/src/cpp01_launch/launch/yaml/yaml02_node_launch.yaml) - Node节点使用（YAML）
  - [xml03_cmd_launch](ws04_tools/src/cpp01_launch/launch/xml/xml03_cmd_launch.xml) - 执行终端命令（XML）
  - [yaml03_cmd_launch](ws04_tools/src/cpp01_launch/launch/yaml/yaml03_cmd_launch.yaml) - 执行终端命令（YAML）
  - [xml04_args_launch](ws04_tools/src/cpp01_launch/launch/xml/xml04_args_launch.xml) - 参数设置（XML）
  - [yaml04_args_launch](ws04_tools/src/cpp01_launch/launch/yaml/yaml04_args_launch.yaml) - 参数设置（YAML）
  - [xml05_include_launch](ws04_tools/src/cpp01_launch/launch/xml/xml05_include_launch.xml) - 文件包含（XML）
  - [yaml05_include_launch](ws04_tools/src/cpp01_launch/launch/yaml/yaml05_include_launch.yaml) - 文件包含（YAML）
  - [xml06_group_launch](ws04_tools/src/cpp01_launch/launch/xml/xml06_group_launch.xml) - 分组（XML）
  - [yaml06_group_launch](ws04_tools/src/cpp01_launch/launch/yaml/yaml06_group_launch.yaml) - 分组（YAML）

[cpp02_rosbag](ws04_tools/src/cpp02_rosbag) - C++ 中编程使用 rosbag2

- [demo01_writer](ws04_tools/src/cpp02_rosbag/src/demo01_writer.cpp) - 录制 rosbag2 文件
- [demo02_reader](ws04_tools/src/cpp02_rosbag/src/demo02_reader.cpp) - 读取 rosbag2 文件

[cpp03_tf_broadcaster](ws04_tools/src/cpp03_tf_broadcaster) - 坐标变换广播器

- [demo01_static_tf_broadcaster](ws04_tools/src/cpp03_tf_broadcaster/src/demo01_static_tf_broadcaster.cpp) - 静态坐标变换广播器
- [demo02_dynamic_tf_broadcaster](ws04_tools/src/cpp03_tf_broadcaster/src/demo02_dynamic_tf_broadcaster.cpp) - 动态坐标变换广播器

[py03_tf_broadcaster](ws04_tools/src/py03_tf_broadcaster) - 坐标变换广播器

- [demo01_tf_static_broadcaster_py](ws04_tools/src/py03_tf_broadcaster/py03_tf_broadcaster/demo01_tf_static_broadcaster_py.py) - 静态坐标变换广播器

## 附录：VS Code 开发环境配置

### 插件

- [C/C++ Extension Pack](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools-extension-pack)
- [CMake](https://marketplace.visualstudio.com/items?itemName=twxs.cmake)
- [Python](https://marketplace.visualstudio.com/items?itemName=ms-python.python)
- [Pylance](https://marketplace.visualstudio.com/items?itemName=ms-python.vscode-pylance)
- [XML](https://marketplace.visualstudio.com/items?itemName=redhat.vscode-xml)
- [XML Tools](https://marketplace.visualstudio.com/items?itemName=DotJoshJohnson.xml)
- [YAML](https://marketplace.visualstudio.com/items?itemName=redhat.vscode-yaml)
- [ROS](https://marketplace.visualstudio.com/items?itemName=ms-iot.vscode-ros)
- [URDF](https://marketplace.visualstudio.com/items?itemName=smilerobotics.urdf)
- [Msg Language Support](https://marketplace.visualstudio.com/items?itemName=ajshort.msg)

### 配置文件

仅为示意，需要根据实际路径替换。

```json
// .vscode/c_cpp_properties.json
{
    "configurations": [
        {
            "browse": {
                "databaseFilename": "${default}",
                "limitSymbolsToIncludedHeaders": true
            },
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/humble/include/**",
                "/usr/include/**"
            ],
            "name": "ROS",
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "c++17",
            "configurationProvider": "ms-vscode.cmake-tools"
        }
    ],
    "version": 4
}
```

```json
// .vscode/settings.json
{
    "ros.distro": "humble",
    "python.analysis.extraPaths": [
        "/opt/ros/humble/lib/python3.10/site-packages"
    ],
    "python.autoComplete.extraPaths": [
        "/opt/ros/humble/lib/python3.10/site-packages",
    ],
}
```