ROS2 Humble LTS 第一款5年长支持版本及默认DDS

ROS1发布5年长支持版本为indigo/kinetic/melodic/noetic。

ROS2将于2022年5月发布第一款5年长支持版本。

这也是ROS2机器人作为开发生态走向成熟的标志之一。

猜测，如果不是5年，那么说明还需要等等。

Humble Hawksbill 预计5年！

May 23rd, 2022

May 2027

Galactic Geochelone  (⊙﹏⊙)

May 23rd, 2021

November 2022

Foxy Fitzroy  (⊙﹏⊙)

June 5th, 2020

May 2023

Eloquent Elusor End

November 22nd, 2019

November 2020

Dashing Diademata  End

May 31st, 2019

May 2021

Crystal Clemmys  End

December 14th, 2018

December 2019

Bouncy Bolson  End

July 2nd, 2018

July 2019

Ardent Apalone  End

December 8th, 2017

December 2018

beta3  End

September 13th, 2017

December 2017

beta2  End

July 5th, 2017

September 2017

beta1  End

December 19th, 2016

Jul 2017

alpha1 - alpha8  End

August 31th, 2015

December 2016

DDS：

默认情况下，ROS 2 使用 DDS 作为其中间件。 它与多个 DDS 或 RTPS（DDS 有线协议）供应商兼容。 目前支持 eProsima 的 Fast DDS、RTI 的 Connext DDS、Eclipse Cyclone DDS 和 GurumNetworks GurumDDS。 请参阅 https://ros.org/reps/rep-2000.html，了解按发行版支持的 DDS 供应商。

Humble：the default DDS vendor is eProsima’s Fast DDS

Galactic：the default DDS vendor is Eclipse’s Cyclone DDS

Foxy：the default DDS vendor is eProsima’s Fast DDS

局域网内无需配置，或简单配置ROS_DOMAIN_ID即可互通。

docs.ros.org/en/humble/Concepts/About-Domain-ID.html

win11+foxy：

ros2 run examples_rclcpp_minimal_publisher publisher_member_function 

ubuntu22.04+humble： 

ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function 

pub：

#include <chrono>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

/* This example creates a subclass of Node and uses std::bind() to register a
 * member function as a callback from the timer. */

class MinimalPublisher : public rclcpp::Node
{
public:
  MinimalPublisher()
  : Node("minimal_publisher"), count_(0)
  {
    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
    timer_ = this->create_wall_timer(
      500ms, std::bind(&MinimalPublisher::timer_callback, this));
  }

private:
  void timer_callback()
  {
    auto message = std_msgs::msg::String();
    message.data = "Hi, From Foxy to Humble! 无比快乐" + std::to_string(count_++);
    RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
    publisher_->publish(message);
  }
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
  size_t count_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalPublisher>());
  rclcpp::shutdown();
  return 0;
}

sub：

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using std::placeholders::_1;

class MinimalSubscriber : public rclcpp::Node
{
public:
  MinimalSubscriber()
  : Node("minimal_subscriber")
  {
    subscription_ = this->create_subscription<std_msgs::msg::String>(
      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
  }

private:
  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
  {
    RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
  }
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalSubscriber>());
  rclcpp::shutdown();
  return 0;
}