demos 源码详细分析

工作区路径：/home/cp/work2/ros2Learn/ros2_humble/src/ros2/demos
子包数量：21

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1. 定位

demos 目录含 21 个 ROS 2 包，工作区路径见下。

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2. 子包列表

包名	版本	说明
action_tutorials_cpp	0.20.9	C++ action tutorial cpp code
action_tutorials_interfaces	0.20.9	Action tutorials action
action_tutorials_py	0.20.9	Python action tutorial code
composition	0.20.9	Examples for composing multiple nodes in a single process.
demo_nodes_cpp	0.20.9	C++ nodes which were previously in the ros2/examples reposit…
demo_nodes_cpp_native	0.20.9	C++ nodes which access the native handles of the rmw impleme…
demo_nodes_py	0.20.9	Python nodes which were previously in the ros2/examples repo…
dummy_map_server	0.20.9	dummy map server node
dummy_robot_bringup	0.20.9	dummy robot bringup
dummy_sensors	0.20.9	dummy sensor nodes
image_tools	0.20.9	Tools to capture and play back images to and from DDS subscr…
intra_process_demo	0.20.9	Demonstrations of intra process communication.
lifecycle	0.20.9	Package containing demos for lifecycle implementation
lifecycle_py	0.20.9	Package containing demos for rclpy lifecycle implementation
logging_demo	0.20.9	Examples for using and configuring loggers.
pendulum_control	0.20.9	Demonstrates ROS 2’s realtime capabilities with a simulated …
pendulum_msgs	0.20.9	Custom messages for real-time pendulum control.
quality_of_service_demo_cpp	0.20.9	C++ Demo applications for Quality of Service features
quality_of_service_demo_py	0.20.9	Python Demo applications for Quality of Service features
topic_monitor	0.20.9	Package containing tools for monitoring ROS 2 topics.
topic_statistics_demo	0.20.9	C++ demo application for topic statistics feature.

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3. 在 ROS 2 Humble 栈中的关系

官方 demo 节点

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4. 推荐阅读顺序

1. 阅读各子包 package.xml 2. 入口源码 3. 下游依赖方

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5. 小结

demos 为含 21 个子包的源码树，是 ROS 2 Humble 发行版的一部分。