190713-ROS REP-2000

Posted lizhensheng

tags:

篇首语:本文由小常识网(cha138.com)小编为大家整理,主要介绍了190713-ROS REP-2000相关的知识,希望对你有一定的参考价值。

ros2的REP是啥?

TOC

参考

ROS 2 Target Platforms
REP Source
《软件工程:实践者的研究方法》

前言

ROS Enhancement Proposals (REPs),是ROS组织对开发者的倡议,是一种规范。
是一种工程管理办法

记录

Support Tiers

Tiers即等级的概念,Tier1支持等级最高,Tier2次之,Tier3支持度最低。
但是这三个等级都是官方支持的,只是支持的细粒度不同

如以下是ROS2 C版本对各目标平台的支持力度,可以看到ubuntu 16.04处于Tier2的程度,说明开发者要获得最大开发支持,最好使用ubuntu 18.04。而ROS 通信中间件的支持,就是frtps支持最好,处在tier1的位置。
Crystal Clemmys (December 2018 - December 2019)
Targeted platforms:

ArchitectureUbuntu Bionic (18.04)MacOS Sierra (10.12)Windows 10 (VS2017)Ubuntu Xenial (16.04)Debian Stretch (9)
amd64Tier 1 [d][a][s]Tier 1 [a][s]Tier 1 [a][s]Tier 2 [s]Tier 3 [s]
arm64Tier 1 [d][a][s]  Tier 2 [s]Tier 3 [s]

The following indicators show what delivery mechanisms are available for each platform.
" [d] " Debian packages will be provided for this platform for packages submitted to the rosdistro.
" [a] " Binary releases are provided as a single archive per platform containing all packages in the Crystal ROS 2 repos file [4].
" [s] " Compilation from source.
Middleware Implementation Support:

Middleware LibraryMiddleware ProviderSupport LevelPlatformsArchitectures
rmw_fastrtps_cppeProsima Fast-RTPSTier 1All PlatformsAll Architectures
rmw_connext_cppRTI ConnextTier 1All Platforms except DebianAll Architectures except arm64
rmw_opensplice_cppADLink OpenSpliceTier 2All Platforms except DebianAll Architectures
rmw_fastrtps_dynamic_cppeProsima Fast-RTPSTier 2All PlatformsAll Architectures
rmw_connext_dynamic_cppRTI ConnextTier 2All platforms except DebianAll architectures except arm64

以上是关于190713-ROS REP-2000的主要内容,如果未能解决你的问题,请参考以下文章