大家好，我是小鱼。今天分享一下在官方文档中，ROS2中哪些让小鱼觉得非常优秀的设计。
- ROS2实时内核：https://docs.ros.org/en/foxy/Tutorials/Building-Realtime-rt_preempt-kernel-for-ROS-2.html
- QOS，服务质量，https://docs.ros.org/en/foxy/Tutorials/Quality-of-Service.html
- 生命周期：https://docs.ros.org/en/foxy/Tutorials/Managed-Nodes.html
- 高效的进程间通信：https://docs.ros.org/en/foxy/Tutorials/Intra-Process-Communication.html
- 同一个进程多个节点：https://docs.ros.org/en/foxy/Tutorials/Composition.html
- 灵活的Python编写Launch文件：https://docs.ros.org/en/foxy/Tutorials/Launch-system.html
- 官方支持的docker和k8s,https://docs.ros.org/en/foxy/Tutorials/Deploying-ROS-2-on-IBM-Cloud.html
- 多机器人协同通信支持：https://docs.ros.org/en/foxy/Concepts/About-Domain-ID.html
- 针对安全的sros2:https://docs.ros.org/en/foxy/Concepts/About-Domain-ID.html
- 节点之间互相发现：https://design.ros2.org/articles/ros_on_dds.html
还有一些其他的
- ROS2导航实现demo:https://github.com/ros2/turtlebot2_demo
- TF2:https://docs.ros.org/en/foxy/Tutorials/Tf2/Tf2-Main.html
- ROS2ROS1PPT:https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/ROS2021/lec4/ROS%20Course%20Slides%20Course%204.pdf
