190713-ROS REP-2000

Posted 2022-05-08 lizhensheng

ros2的REP是啥？

ros2的REP是啥？
参考
前言
记录
Support Tiers

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:

Architecture	Ubuntu Bionic (18.04)	MacOS Sierra (10.12)	Windows 10 (VS2017)	Ubuntu Xenial (16.04)	Debian Stretch (9)
amd64	Tier 1 [d][a][s]	Tier 1 [a][s]	Tier 1 [a][s]	Tier 2 [s]	Tier 3 [s]
arm64	Tier 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 Library	Middleware Provider	Support Level	Platforms	Architectures
rmw_fastrtps_cpp	eProsima Fast-RTPS	Tier 1	All Platforms	All Architectures
rmw_connext_cpp	RTI Connext	Tier 1	All Platforms except Debian	All Architectures except arm64
rmw_opensplice_cpp	ADLink OpenSplice	Tier 2	All Platforms except Debian	All Architectures
rmw_fastrtps_dynamic_cpp	eProsima Fast-RTPS	Tier 2	All Platforms	All Architectures
rmw_connext_dynamic_cpp	RTI Connext	Tier 2	All platforms except Debian	All architectures except arm64