版权声明：署名，允许他人基于本文进行创作，且必须基于与原先许可协议相同的许可协议分发本文 （creative commons）
是时候放下ROS1，开启ROS2的旅程了。It's time to put down ROS1 and start the journey of ROS2.
ROS2官方在线文档链接 ROS2 official online documentation：https://index.ros.org/doc/ros2/
ROS2教程文档使用说明与为什么选择ROS2？ROS2 tutorial documentation instructions and why choose ROS2?https://cloud.tencent.com/developer/article/1453644
ROS2常规学习路径 ROS2 regular learning path：
demos、navigation2 and moveit2
ROS2进阶学习路径 ROS2 advanced learning path：
others
学习分享从安装配置开始，首先详细介绍教程，然后是两个专题：Navigation2和MoveIt!2。This article starts with ROS2 installation and configuration, first introduces the tutorial in detail, then two topics: Navigation2 and MoveIt!2.
安装详细过程 Installation detailed tutorial：ROS 2 Dashing Diademata安装和使用文档（含Linux、Windows和OS X）ROS 2 Dashing Diademata installation and documentation (including Linux, Windows and OS X)
ROS教程 ROS 2 tutorials：https://github.com/zhangrelay/ros2_tutorials
配置教程包 Tutorial package configuration：
下载：git clone编译：colcon build使用：ros2 run
colcon build
导入编译的环境 Import the compiled environment：
SHCCMS（世惠诚企业网站管理系统）是南阳世惠诚科技有限公司负责开发的企业（公司）CMS网站内容管理系统。 主要功能 针对世惠诚企业网站管理而进行开发，该软件可以进行网站制作流程,客户案例,服务器参数,品牌设计,网站建设,新闻动态等操作。软件正在不断扩展应用接口，完善系统数据维护功能。系统还具有数据回收站机制。能对数据进行回收和撤回操作。软件界面设计简洁，美观。其人性化的软件
source install/setup.bash
输入ros2 run turtlesim，可以看到如下节点 Enter ros2 run turtlesim, you can see the following nodes：
draw_square --prefix turtle_teleop_key
mimic turtlesim_node
常用命令如下 Common commands are as follows：
ros2 run turtlesim turtlesim_noderos2 topic listros2 run turtlesim draw_squareros2 topic echo /turtle1/pose……更多内容参考下图 For more details, please refer to the following figure：
欢迎大家下载案例调试玩耍， 更多内容后续介绍。You are welcome to download the case, debug and play, more will be introduced in subsequent articles.
思考题 Thinking：
回顾roslaunch， 写一个ros2 launch，同时启动turtlesim_node和draw_spuare。Looking back at roslaunch, write a ros2 launch and start both the turtlesim_node and draw_spuare node.
扩展题 Extended：
对比ROS1和ROS2的turtlesim包，分析和思考两代ROS编程和使用中的差异。Compare the turbulsim package of ROS1 and ROS2, analyze and think about the difference between the two generations of ROS in programming and use.
draw_square.launch.py
代码语言：javascript代码运行次数：0运行复制from launch import LaunchDescriptionimport launch_ros.actionsdef generate_launch_description(): return LaunchDescription([ launch_ros.actions.Node( node_namespace= "ros2", package='turtlesim', node_executable='turtlesim_node', output='screen'), launch_ros.actions.Node( node_namespace= "ros2", package='turtlesim', node_executable='draw_square', output='screen'), ])
