ROS 2 Humble Hawksbill 正式发布啦

Posted 2022-05-26 zhangrelay

Humble Hawksbill 是一个长期支持 (LTS) 版本，将一直支持到 2027 年 5 月。它是 Ubuntu 22.04 (Jammy Jellyfish) 上的第一个 ROS 2 版本。此版本有两个 Tier 1 操作系统：Ubuntu 22.04 Jammy Jellyfish（arm64 和 amd64 架构）和 Windows 10。如果是 ROS 新手，官方建议使用 Tier 1 操作系统进行试用。

那么名字里有什么？“humble ”是指“以尊重的精神反思、表达或提供”，以及hawksbill 是一种遍布世界各地的海龟。Hawksbill 海龟因其标志性的喙而很容易识别。官方在社区的帮助下选择了这个名字。

Humble 有许多新功能。这很难选择，但这里有一些官方最赞的：

• 类型适配：在 rclcpp 中，可以使用自定义数据结构并将它们隐式转换为通过 ROS 网络发送，或者如果使用进程内通信则直接传递。这对于处理复杂的数据结构（如图像）很方便。
• launch_pytest：一个 pytest 插件，用于在 Python 中编写测试。
• 可组合节点的前端支持：现在可以在启动文件中指定可组合节点。
• 内容过滤主题：订阅者可以过滤想要查看的消息类型。

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docs.ros.org/en/humble/index.html

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Here’s a list of the 198 contributors：

Andou Tetsuo, Abrar Rahman Protyasha, Adam Dąbrowski, Aditya Pande, Afonso da Fonseca Braga, Ahmed Sobhy, Akash, Alberto Soragna, Alejandro Hernández Cordero, Amey Kulkarni, Amro Al-Baali, Andrea Sorbini, Andreas Korb, AndyZe, Anthony, Anthony Deschamps, Arne Nordmann, Artem Shumov, Audrow Nash, Auguste Lalande, Barry Xu, Bastian Jäger, Benjamin Hug, Bi0T1N, Bjar Ne, Brett Downing, Brian Gerkey, Brian Soe, Cameron Miller, Carlos Andrés Álvarez Restrepo, Charles Cross, Chen Lihui, Chris Lalancette, Christophe Bedard, Cory Crean, Daisuke Nishimatsu, David V. Lu, David V. Lu!!, Denis Štogl, Derek Chopp, Dietrich Krönke, Dima Dorezyuk, Dirk Thomas, Doug Smith, Elias De Coninck, Emerson Knapp, Eric Cousineau, Erik Boasson, Erki Suurjaak, Esteve Fernandez, Esther S. Weon, Felix Divo, Flobotics-robotics, Florian Vahl, Gaël Écorchard, Geoffrey Biggs, Gonzo, Greg Balke, Grey, HMellor, Hannu Henttinen, Haowei Wen, Hemal Shah, Hirokazu Ishida, Homalozoa X, Hunter L. Allen, Hye-Jong Kim, Immanuel Martini, Ingo Lütkebohle, Ivan Santiago Paunovic, Jacob Bandes-Storch, Jacob Perron, Jafar Abdi, Jaron, Jay Wang, Joakim Roubert, Jochen Sprickerhof, Joe Speed, Jonathan Binney, Jonathan Selling, Jorge Perez, Jose Antonio Moral, Jose Luis Rivero, Joseph Schornak, Joshua Whitley, João C. Monteiro, Karsten Knese, Katherine Scott, Kaven Yau, Keisuke Shima, Kenji Brameld, Kenji Miyake, Kenny Wang, Khasreto, Khush Jain, Kosuke Takeuchi, Laszlo Turanyi, Lei Liu, Louise Poubel, Lyle Johnson, M. Fatih Cırıt, M. Hofstätter, M. Mostafa Farzan, Marco Lampacrescia, Martin Günther, Martin Idel, Mateusz Sadowski, Matt Lanting, Mauro Passerino, Michael Ferguson, Michael Jeronimo, Michael Orlov, Michael Terzer, Michal Sojka, Michel Hidalgo, Miguel Company, Nathan Brooks, Nikolai Morin, Nils Schulte, Nisala Kalupahana, NoyZuberi, Octogonapus, PGotzmann, Pablo Garrido, Paul, Per Kerssens, Petter Nilsson, Piotr Jaroszek, Ralph Lange, Rebecca Butler, Rob Clarke, Roberto Zegers R, RoboTech Vision, Roger Strain, Russ, Russell Joyce, Scott K Logan, Serge Nikulin, Seulbae Kim, Shane Loretz, Shivam Pandey, Shyngyskhan Abilkassov, Sid Faber, Silvio Traversaro, Sonia Jin, Steve Macenski, Steve Nogar, Steve Peters, Steven! Ragnarök, Sumanth Nirmal, Taylor Alexander, Tim Clephas, Timo Röhling, Tomoya Fujita, Tony Peng, Tully Foote, Tyler Weaver, Veera Ragav, Vicidel, Víctor Mayoral Vilches, WideAwakeTN, Will, William Woodall, Wojciech Jaworski, Wolf Vollprecht, Yong-Hao Zou, Youngjin Yun, Zhenpeng Ge, Zongbao Feng, bailaC, carlossvg, cturcotte-qnx, davidorchansky, eboasson, gezp, guillaume-pais-siemens, hodnajit, iRobot ROS, ibnHatab, jmackay2, joshua-qnx, ketatam, ksuszka, leothehuman, livanov93, matthews-jca, mauropasse, methylDragon, ori155, rcp1, simulacrus, sonia, spiralray, tim-fan, tumtom, vineet131, xwnb, Øystein Sture

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