Robot Operating System (ROS) は、ロボット システムのさまざまな部分が相互に検出し、これらの間でデータを送受信できるようにする通信インターフェイスです。
ROS ネットワークは、1 つの "ROS マスター" と複数の "ROS ノード" で構成されます。
This example explores how to add and retrieve parameters on the ROS parameter server. The parameter server usually runs on the same device that launches the ROS master. The parameters are accessible globally over the ROS network and can be used to store static data such as configuration parameters. Supported data types include strings, integers, doubles, logicals, and cell arrays.
Robot Operating System 2 (ROS 2) is the second version of ROS, which is a communication interface that enables different parts of a robot system to discover, send, and receive data. MATLAB® support for ROS 2 is a library of functions that allows you to exchange data with ROS 2 enabled physical robots or robot simulators such as Gazebo®. ROS 2 is built on Data Distribution Standard (DDS) which is an end-to-end middleware that provides features such as discovery, serialization and transportation. These features align with the design principles of ROS 2 such as distributed discovery and control over different "Quality of Service" options for transportation. DDS uses Real Time Publish-Subscribe (RTPS) protocol which provides communication over unreliable network protocols such as UDP. For more information, see RTPS.
ROS 2 ネットワークは、複数の "ROS 2 ノード" で構成されます。
ROS 2 is newer version of ROS with different architecture. Both the networks are separate and there is no direct communication between the nodes in ROS and ROS 2. The
ros1_bridge package provides a network bridge which enables the exchange of messages between ROS and ROS 2. The bridge manages all the conversion required and sends messages across both the networks. For more information, see
ros1_bridge. This example uses a virtual machine which may be downloaded by following the instructions in Gazebo およびシミュレートされた TurtleBot の入門. The
ros1_bridge package is installed on this virtual machine.