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alt=\"image-20220528020937717\"\/><\/div><\/figure>\n\n\n\n<p>DDS\u662f\u4e00\u79cd\u901a\u4fe1\u7684\u6807\u51c6\uff0c\u5c31\u50cf4G\u30015G\u4e00\u6837\uff0c\u65e2\u7136\u662f\u6807\u51c6\uff0c\u90a3\u5927\u5bb6\u90fd\u53ef\u4ee5\u6309\u7167\u8fd9\u4e2a\u6807\u51c6\u6765\u5b9e\u73b0\u5bf9\u5e94\u7684\u529f\u80fd\uff0c\u6240\u4ee5\u534e\u4e3a\u3001\u9ad8\u901a\u90fd\u6709\u5f88\u591a5G\u7684\u6280\u672f\u4e13\u5229\uff0cDDS\u4e5f\u662f\u4e00\u6837\uff0c<strong>\u80fd\u591f\u6309\u7167DDS\u6807\u51c6\u5b9e\u73b0\u7684\u901a\u4fe1\u7cfb\u7edf\u5f88\u591a<\/strong>\uff0c\u8fd9\u91cc\u6bcf\u4e00\u4e2a\u7ea2\u8272\u6a21\u5757\uff0c\u5c31\u662f\u67d0\u4e00\u4f01\u4e1a\u6216\u7ec4\u7ec7\u5b9e\u73b0\u7684\u4e00\u79cdDDS\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p>\u53ef\u7528\u7684DDS\u6807\u51c6\u6709\u5f88\u591a\uff0c\u5177\u4f53\u800c\u8a00\uff0c\u4ed6\u4eec\u80af\u5b9a\u90fd\u7b26\u5408\u57fa\u672c\u6807\u51c6\uff0c\u4f46\u8fd8\u662f\u4f1a\u6709\u6027\u80fd\u4e0a\u7684\u5dee\u522b\uff0cROS2\u7684\u539f\u5219\u5c31\u662f\u5c3d\u91cf\u517c\u5bb9\uff0c\u8ba9\u7528\u6237\u6839\u636e\u4f7f\u7528\u573a\u666f\u9009\u62e9\uff0c\u6bd4\u5982\u4e2a\u4eba\u5f00\u53d1\uff0c\u6211\u4eec\u9009\u62e9\u4e00\u4e2a\u5f00\u6e90\u7248\u672c\u7684DDS\u5c31\u884c\uff0c\u5982\u679c\u662f\u5de5\u4e1a\u5e94\u7528\uff0c\u90a3\u53ef\u80fd\u5f97\u9009\u62e9\u4e00\u4e2a\u5546\u4e1a\u6388\u6743\u7684\u7248\u672c\u4e86\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5b9e\u73b0\u5bf9\u591a\u4e2aDDS\u7684\u517c\u5bb9\uff0cROS\u8bbe\u8ba1\u4e86\u4e00\u4e2a<strong>Middleware\u4e2d\u95f4\u4ef6<\/strong>\uff0c\u4e5f\u5c31\u662f\u4e00\u4e2a\u7edf\u4e00\u7684\u6807\u51c6\uff0c\u4e0d\u7ba1\u6211\u4eec\u7528\u90a3\u4e2aDDS\uff0c\u4fdd\u8bc1\u4e0a\u5c42\u7f16\u7a0b\u4f7f\u7528\u7684\u51fd\u6570\u63a5\u53e3\u90fd\u662f\u4e00\u6837\u7684\u3002\u6b64\u65f6\u517c\u5bb9\u6027\u7684\u95ee\u9898\u5c31\u8f6c\u79fb\u7ed9\u4e86DDS\u5382\u5546\uff0c\u5982\u679c\u4ed6\u4eec\u60f3\u8ba9\u81ea\u5df1\u7684DDS\u7cfb\u7edf\u8fdb\u5165ROS\u751f\u6001\uff0c\u5c31\u5f97\u6309\u7167ROS\u7684\u63a5\u53e3\u6807\u51c6\uff0c\u5f00\u53d1\u4e00\u4e2a\u9a71\u52a8\uff0c\u4e5f\u5c31\u662f\u8fd9\u4e2a\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u65e0\u8bba\u5982\u4f55\uff0cROS\u7684\u5b97\u65e8\u4e0d\u53d8\uff0c\u8981\u63d0\u9ad8\u8f6f\u4ef6\u4ee3\u7801\u7684\u590d\u7528\u6027\uff0c\u4e0b\u8fb9DDS\u4efb\u4f60\u8fb9\uff0c\u4e0a\u8fb9\u7684\u8f6f\u4ef6\u6ca1\u5f71\u54cd\u3002<\/p>\n\n\n\n<p>DDS\u4e2d\u7684\u57fa\u672c\u7ed3\u6784\u662f<strong>Domain<\/strong>\uff0cDomain\u5c06\u5404\u4e2a\u5e94\u7528\u7a0b\u5e8f\u7ed1\u5b9a\u5728\u4e00\u8d77\u8fdb\u884c\u901a\u4fe1\uff0c\u4e4b\u524d\u914d\u7f6e\u7684\u90a3\u4e2aDOMAIN ID\uff0c\u5c31\u662f\u5bf9\u5168\u5c40\u6570\u636e\u7a7a\u95f4\u7684\u5206\u7ec4\u5b9a\u4e49\uff0c\u53ea\u6709\u5904\u4e8e\u540c\u4e00\u4e2aDOMAIN\u5c0f\u7ec4\u4e2d\u7684\u8282\u70b9\u624d\u80fd\u4e92\u76f8\u901a\u4fe1\u3002\u8fd9\u6837\u53ef\u4ee5\u907f\u514d\u65e0\u7528\u6570\u636e\u5360\u7528\u7684\u8d44\u6e90\u3002<\/p>\n\n\n\n<p>DDS\u4e2d\u53e6\u5916\u4e00\u4e2a\u91cd\u8981\u7279\u6027\u5c31\u662f<strong>\u8d28\u91cf\u670d\u52a1\u7b56\u7565\uff0cQoS<\/strong>\u3002<\/p>\n\n\n\n<p>QoS\u662f\u4e00\u79cd\u7f51\u7edc\u4f20\u8f93\u7b56\u7565\uff0c\u5e94\u7528\u7a0b\u5e8f\u6307\u5b9a\u6240\u9700\u8981\u7684\u7f51\u7edc\u4f20\u8f93\u8d28\u91cf\u884c\u4e3a\uff0cQoS\u670d\u52a1\u5b9e\u73b0\u8fd9\u79cd\u884c\u4e3a\u8981\u6c42\uff0c\u5c3d\u53ef\u80fd\u5730\u6ee1\u8db3\u5ba2\u6237\u5bf9\u901a\u4fe1\u8d28\u91cf\u7684\u9700\u6c42\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a<strong>\u6570\u636e\u63d0\u4f9b\u8005\u548c\u63a5\u6536\u8005\u4e4b\u95f4\u7684\u5408\u7ea6<\/strong>\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u7b56\u7565\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>DEADLINE<\/strong>\u7b56\u7565\uff0c\u8868\u793a\u901a\u4fe1\u6570\u636e\u5fc5\u987b\u8981\u5728\u6bcf\u6b21\u622a\u6b62\u65f6\u95f4\u5185\u5b8c\u6210\u4e00\u6b21\u901a\u4fe1\uff1b<\/li>\n\n\n\n<li><strong>HISTORY<\/strong>\u7b56\u7565\uff0c\u8868\u793a\u9488\u5bf9\u5386\u53f2\u6570\u636e\u7684\u4e00\u4e2a\u7f13\u5b58\u5927\u5c0f\uff1b<\/li>\n\n\n\n<li><strong>RELIABILITY<\/strong>\u7b56\u7565\uff0c\u8868\u793a\u6570\u636e\u901a\u4fe1\u7684\u6a21\u5f0f\uff0c\u914d\u7f6e\u6210BEST_EFFORT\uff0c\u5c31\u662f\u5c3d\u529b\u4f20\u8f93\u6a21\u5f0f\uff0c\u7f51\u7edc\u60c5\u51b5\u4e0d\u597d\u7684\u65f6\u5019\uff0c\u4e5f\u8981\u4fdd\u8bc1\u6570\u636e\u6d41\u7545\uff0c\u6b64\u65f6\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6570\u636e\u4e22\u5931\uff0c\u914d\u7f6e\u6210RELIABLE\uff0c\u5c31\u662f\u53ef\u4fe1\u8d56\u6a21\u5f0f\uff0c\u53ef\u4ee5\u5728\u901a\u4fe1\u4e2d\u5c3d\u91cf\u4fdd\u8bc1\u56fe\u50cf\u7684\u5b8c\u6574\u6027\uff0c\u6211\u4eec\u53ef\u4ee5\u6839\u636e\u5e94\u7528\u529f\u80fd\u573a\u666f\u9009\u62e9\u5408\u9002\u7684\u901a\u4fe1\u6a21\u5f0f\uff1b<\/li>\n\n\n\n<li><strong>DURABILITY<\/strong>\u7b56\u7565\uff0c\u53ef\u4ee5\u914d\u7f6e\u9488\u5bf9\u665a\u52a0\u5165\u7684\u8282\u70b9\uff0c\u4e5f\u4fdd\u8bc1\u6709\u4e00\u5b9a\u7684\u5386\u53f2\u6570\u636e\u53d1\u9001\u8fc7\u53bb\uff0c\u53ef\u4ee5\u8ba9\u65b0\u8282\u70b9\u5feb\u901f\u9002\u5e94\u7cfb\u7edf\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5f53\u4e24\u4e2a\u7a97\u53e3\u9009\u62e9\u7684\u901a\u8baf\u4f20\u8f93\u6a21\u5f0f\u4e0d\u4e00\u6837\u65f6\uff0c\u540c\u6837\u4e0d\u80fd\u76f8\u4e92\u4f20\u9012\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u5982\uff0c\u82e5\u53d1\u5e03\u8005\u6307\u5b9aqos\u4e3areliability\u4e14\u914d\u7f6e\u4e3aBEST_EFFORT\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 topic pub \/chatter std_msgs\/msg\/Int32 \"data: 42\" --qos-reliability best_effort <\/code><\/pre>\n\n\n\n<p>\u8ba2\u9605\u8005\u5374\u6307\u5b9aqos\u4e3areliability\u4e14\u914d\u7f6e\u4e3aRELIABLE\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 topic echo \/chatter --qos-reliability reliable<\/code><\/pre>\n\n\n\n<p>\u5728\u8ba2\u9605\u8005\u5904\u548c\u53d1\u5e03\u8005\u5904\u90fd\u4f1a\u62a5\u4e00\u4e2a\u8b66\u544a\u4e14\u8ba2\u9605\u8005\u65e0\u6cd5\u6536\u5230\u6d88\u606f\uff0c\u4f46\u8fdb\u7a0b\u4ecd\u65e7\u6301\u7eed\u3002<\/p>\n\n\n\n<p>\u8ba2\u9605\u8005\u6362\u6210\u540c\u6837\u7684qos\u914d\u7f6e\u540e\u5c31\u53ef\u4ee5\u63a5\u6536\u5230\u6d88\u606f\u4e86\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 topic echo \/chatter --qos-reliability best_effort<\/code><\/pre>\n\n\n\n<p>\u5728topic\u547d\u4ee4\u540e\u8fb9\u8ddf\u4e00\u4e2a&#8221;&#8211;verbose&#8221;\u53c2\u6570\u53ef\u4ee5\u4e3b\u52a8\u67e5\u770b\u8bdd\u9898\u7684QoS\u7b56\u7565\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 topic info \/chatter --verbose<\/code><\/pre>\n\n\n\n<p>\u5728\u4ee3\u7801\u4e2d\uff0c\u53ef\u4ee5\u901a\u8fc7rclpy.qos\u5e93\u51fd\u6570\u914d\u7f6eqos\u914d\u7f6e\u3002<\/p>\n\n\n\n<p>\u5728\u53d1\u5e03\u8005\u4e2d\uff0c\u521b\u5efa\u8bdd\u9898\u53d1\u5e03\u8005\u7684\u7c7b\u5bf9\u8c61\u65f6\uff0c\u4fee\u6539\u4f20\u9012\u53c2\u6570\u4e3aqos\u5bf9\u8c61\u5373\u53ef\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>import rclpy                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node      # ROS2 \u8282\u70b9\u7c7b\nfrom std_msgs.msg import String  # \u5b57\u7b26\u4e32\u6d88\u606f\u7c7b\u578b\nfrom rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy # ROS2 QoS\u7c7b\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u53d1\u5e03\u8005\u8282\u70b9\n\"\"\"\nclass PublisherNode(Node):\n\n    def __init__(self, name):\n        super().__init__(name)        # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n\n        qos_profile = QoSProfile(     # \u521b\u5efa\u4e00\u4e2aQoS\u539f\u5219\n            # reliability=QoSReliabilityPolicy.BEST_EFFORT,\n            reliability=QoSReliabilityPolicy.RELIABLE,\n            history=QoSHistoryPolicy.KEEP_LAST,\n            depth=1              # \u7f13\u5b58\u5927\u5c0f\n        )\n        self.pub = self.create_publisher(String, \"chatter\", qos_profile) # \u521b\u5efa\u53d1\u5e03\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001QoS\u539f\u5219\uff09,\u5728\u4ee5\u524d\u7684\u5c1d\u8bd5\u4e2d\uff0c\u8fd9\u91cc\u7b2c\u4e09\u4e2a\u53c2\u6570\u4ec5\u4ec5\u662f\u7f13\u5b58\u961f\u5217\u5927\u5c0f\u3002\n        self.timer = self.create_timer(0.5, self.timer_callback)         # \u521b\u5efa\u4e00\u4e2a\u5b9a\u65f6\u5668\uff08\u5355\u4f4d\u4e3a\u79d2\u7684\u5468\u671f\uff0c\u5b9a\u65f6\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\uff09\n\n    def timer_callback(self):                                # \u521b\u5efa\u5b9a\u65f6\u5668\u5468\u671f\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\n        msg = String()                                       # \u521b\u5efa\u4e00\u4e2aString\u7c7b\u578b\u7684\u6d88\u606f\u5bf9\u8c61\n        msg.data = 'Hello World'                             # \u586b\u5145\u6d88\u606f\u5bf9\u8c61\u4e2d\u7684\u6d88\u606f\u6570\u636e\n        self.pub.publish(msg)                                # \u53d1\u5e03\u8bdd\u9898\u6d88\u606f\n        self.get_logger().info('Publishing: \"%s\"' % msg.data)# \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u5b8c\u6210\u8bdd\u9898\u53d1\u5e03\n\ndef main(args=None):                           # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                      # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = PublisherNode(\"qos_helloworld_pub\") # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                           # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                        # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                           # \u5173\u95edROS2 Python\u63a5\u53e3<\/code><\/pre>\n\n\n\n<p>\u76f8\u8f83\u4e8e\uff083\uff09\u8bdd\u9898\u5b66\u4e60\u7b14\u8bb0\u5185\u4ee3\u7801\uff0c\u552f\u4e00\u7684\u53d8\u52a8\u5c31\u662f\u521b\u9020\u53d1\u5e03\u8005\u7c7b\u5bf9\u8c61\u65f6\uff0c\u7528qos\u5bf9\u8c61\u53d6\u4ee3\u4e86\u539f\u672c\u7684\u7f13\u5b58\u961f\u5217\u957f\u5ea6\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u5728\u8ba2\u9605\u8005\u4e2d\uff0c\u4e5f\u662f\u540c\u6837\u7684\uff0c\u5728\u8ba2\u9605\u8005\u7c7b\u5bf9\u8c61\u5904\u8bbe\u7f6eqos\u5bf9\u8c61\u8fdb\u884c\u914d\u7f6e\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>import rclpy                                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                    # ROS2 \u8282\u70b9\u7c7b\nfrom std_msgs.msg import String                  # ROS2\u6807\u51c6\u5b9a\u4e49\u7684String\u6d88\u606f\nfrom rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy  # ROS2 QoS\u7c7b\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\n\"\"\"\nclass SubscriberNode(Node):\n\n    def __init__(self, name):\n        super().__init__(name)         # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n\n        qos_profile = QoSProfile(      # \u521b\u5efa\u4e00\u4e2aQoS\u539f\u5219\n            # reliability=QoSReliabilityPolicy.BEST_EFFORT,\n            reliability=QoSReliabilityPolicy.RELIABLE,\n            history=QoSHistoryPolicy.KEEP_LAST,\n            depth=1\n        )\n\n        self.sub = self.create_subscription(\\\n            String, \"chatter\", self.listener_callback, qos_profile) # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001QoS\u539f\u5219\uff09\n\n    def listener_callback(self, msg):                      # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bdd\u9898\u6d88\u606f\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        self.get_logger().info('I heard: \"%s\"' % msg.data) # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u8ba2\u9605\u6536\u5230\u7684\u8bdd\u9898\u6d88\u606f\n\ndef main(args=None):                               # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                          # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = SubscriberNode(\"qos_helloworld_sub\")    # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                               # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                            # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                               # \u5173\u95edROS2 Python\u63a5\u53e3<\/code><\/pre>\n\n\n\n<p>\u4e0e\u53d1\u5e03\u8005\u4e00\u6837\uff0c\u521b\u9020\u8ba2\u9605\u8005\u7c7b\u5bf9\u8c61\u65f6\uff0c\u7528qos\u5bf9\u8c61\u53d6\u4ee3\u4e86\u539f\u672c\u7684\u7f13\u5b58\u961f\u5217\u957f\u5ea6\u53c2\u6570\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>DDS\u662fros2\u76f8\u5bf9\u4e8eros1\u800c\u8a00\u6700\u5927\u7684\u53d8\u5316\uff0c\u8bdd\u9898\u3001\u670d\u52a1\u3001\u52a8\u4f5c\uff0c\u4ed6\u4eec\u5e95\u5c42\u901a\u4fe1\u7684\u5177\u4f53\u5b9e\u73b0\u8fc7\u7a0b\uff0c\u90fd\u662f\u9760DDS\u6765\u5b8c\u6210 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[],"class_list":["post-152","post","type-post","status-publish","format-standard","hentry","category-ros2"],"_links":{"self":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/152","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/comments?post=152"}],"version-history":[{"count":2,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/152\/revisions"}],"predecessor-version":[{"id":156,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/152\/revisions\/156"}],"wp:attachment":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/media?parent=152"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/categories?post=152"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/tags?post=152"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}