ROS 2 メッセージ
Messages are the primary container for exchanging data in ROS. Topics and services use messages to carry data between nodes. (See ROS のパブリッシャーおよびサブスクライバーとのデータ交換 and Call and Provide ROS Services for more information on topics and services)
List of supported ROS message types in MATLAB®.
ROS ノードがデータを交換するための主なメカニズムは、"メッセージ" を送受信することです。
Some commonly used ROS messages store data in a format that requires some transformation before it can be used for further processing. MATLAB® can help you by formatting these specialized ROS messages for easy use. In this example, you can explore how message types for laser scans, uncompressed and compressed images, and point clouds are handled.
This example shows how to work with complex ROS messages in MATLAB, such as messages with nested submessages and variable-length arrays.
This example demonstrates the use of ROS message structures, and their benefits and differences from message objects.
ROS messages are the primary container for exchanging data in ROS 2. Publishers and subscribers exchange data using messages on specified topics to carry data between nodes. For more information on sending and receiving messages, see ROS 2 のパブリッシャーとサブスクライバーとのデータ交換.
ROS 2 ノードがデータを交換するための主なメカニズムは、"メッセージ" を送受信することです。
Quality of Service (QoS) policy options allow for changing the behavior of communication within a ROS 2 network. QoS policies are modified for specific communication objects, such as publishers and subscribers, and change the way that messages are handled in the object and transported between them. For any messages to pass between two communication objects, their QoS policies must be compatible.
This example demonstrates best practices in managing Quality of Service (QoS) policies for an application using ROS 2. QoS policies allow for the flexible tuning of communication behavior between publishers and subscribers, and change the way that messages are transported within a ROS 2 network. For more information, see Manage Quality of Service Policies in ROS 2.
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.