ROS学习1

ROS学习

http://wiki.ros.org/cn/ROS/Concepts

topic:A node that is interested in a certain kind of data will subscribe to the appropriate topic. There may be multiple concurrent publishers and subscribers for a single topic, and a single node may publish and/or subscribe to multiple topics. In general, publishers and subscribers are not aware of each others’ existence. The idea is to decouple the production of information from its consumption.

Services: The publish / subscribe model is a very flexible communication paradigm, but its many-to-many, one-way transport is not appropriate for request / reply interactions, which are often required in a distributed system.

ROS master:Nodes connect to other nodes directly; the Master only provides lookup information, much like a DNS server. The most common protocol used in a ROS is called TCPROS, which uses standard TCP/IP sockets.

A valid name has the following characteristics:
First character is an alpha character ([a-z|A-Z]), tilde (~) or forward slash (/)
Subsequent characters can be alphanumeric ([0-9|a-z|A-Z]), underscores (_), or forward slashes (/)
Exception: base names cannot have forward slashes (/) or tildes (~) in them.
There are four types of Graph Resource Names in ROS: base, relative, global, and private, which have the following syntax:
base
relative/name
/global/name
~private/name
没有名称空间限定符的名称都是基名称。基名最常用于初始化节点名。
以“/”开头的名称是全局的。应尽可能避免全局名称，因为它们限制了代码的可移植性。
若不是基名称也没有限定符的为相关名称，其会自动将节点名称作为自己的名称空间。具体如下：

Node	Relative	Global	Private
/node1	bar -> /bar	/bar -> /bar	~bar -> /node1/bar
/wg/node2	bar -> /wg/bar	/bar -> /bar	~bar -> /wg/node2/bar
/wg/node3	foo/bar -> /wg/foo/bar	/foo/bar -> /foo/bar	~foo/bar -> /wg/node3/foo/bar