https://my-blog-c6y.pages.dev/categories/ros/ Recent content in Ros on 考拉的知识树屋 https://my-blog-c6y.pages.dev/opengraph.webp https://my-blog-c6y.pages.dev/opengraph.webp Hugo zh Thu, 09 Apr 2026 14:55:36 +0800 https://my-blog-c6y.pages.dev/posts/exam/ros_introduction/hugo/ Thu, 09 Apr 2026 14:55:36 +0800 https://my-blog-c6y.pages.dev/posts/exam/ros_introduction/hugo/ <p>我来为您详细介绍ROS/ROS2的核心概念，包括节点通信机制、TF坐标变换系统和可视化工具。</p> <hr> <h2 id="一ros-vs-ros2-架构对比">一、ROS vs ROS2 架构对比</h2> <table> <thead> <tr> <th>特性</th> <th>ROS1 (Noetic)</th> <th>ROS2 (Humble/Iron)</th> </tr> </thead> <tbody> <tr> <td><strong>中间件</strong></td> <td>自定义TCPROS/UDPROS</td> <td>DDS (Data Distribution Service)</td> </tr> <tr> <td><strong>实时性</strong></td> <td>不支持硬实时</td> <td>支持硬实时</td> </tr> <tr> <td><strong>嵌入式</strong></td> <td>需交叉编译</td> <td>原生支持MCU</td> </tr> <tr> <td><strong>多机通信</strong></td> <td>需配置master</td> <td>自动发现，无单点故障</td> </tr> <tr> <td><strong>安全性</strong></td> <td>无</td> <td>加密、认证、访问控制</td> </tr> <tr> <td><strong>构建工具</strong></td> <td>catkin</td> <td>colcon</td> </tr> <tr> <td><strong>Python版本</strong></td> <td>Python 2/3</td> <td>Python 3</td> </tr> <tr> <td><strong>推荐场景</strong></td> <td>legacy系统维护</td> <td>新项目首选</td> </tr> </tbody> </table> <hr> <h2 id="二node节点">二、Node（节点）</h2> <h3 id="21-概念">2.1 概念</h3> <p>节点是ROS中最小的计算单元，一个进程对应一个节点，负责单一功能（如点云处理、路径规划）。</p>