examples 源码详细分析

工作区路径：/home/cp/work2/ros2Learn/ros2_humble/src/ros2/examples
子包数量：22

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1. 定位

examples 目录含 22 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
examples_rclcpp_async_client	0.15.5	Example of an async service client
examples_rclcpp_cbg_executor	0.15.5	Example for multiple Executor instances in one process, usin…
examples_rclcpp_minimal_action_client	0.15.5	Minimal action client examples
examples_rclcpp_minimal_action_server	0.15.5	Minimal action server examples
examples_rclcpp_minimal_client	0.15.5	Examples of minimal service clients
examples_rclcpp_minimal_composition	0.15.5	Minimalist examples of composing nodes in the same process
examples_rclcpp_minimal_publisher	0.15.5	Examples of minimal publisher nodes
examples_rclcpp_minimal_service	0.15.5	A minimal service server which adds two numbers
examples_rclcpp_minimal_subscriber	0.15.5	Examples of minimal subscribers
examples_rclcpp_minimal_timer	0.15.5	Examples of minimal nodes which have timers
examples_rclcpp_multithreaded_executor	0.15.5	Package containing example of how to implement a multithread…
examples_rclcpp_wait_set	0.15.5	Example of how to use the rclcpp::WaitSet directly.
examples_rclpy_executors	0.15.5	Examples of creating and using exectors to run multiple node…
examples_rclpy_guard_conditions	0.15.5	Examples of using guard conditions.
examples_rclpy_minimal_action_client	0.15.5	Examples of minimal action clients using rclpy.
examples_rclpy_minimal_action_server	0.15.5	Examples of minimal action servers using rclpy.
examples_rclpy_minimal_client	0.15.5	Examples of minimal service clients using rclpy.
examples_rclpy_minimal_publisher	0.15.5	Examples of minimal publishers using rclpy.
examples_rclpy_minimal_service	0.15.5	Examples of minimal service servers using rclpy.
examples_rclpy_minimal_subscriber	0.15.5	Examples of minimal subscribers using rclpy.
examples_rclpy_pointcloud_publisher	0.15.5	Example on how to publish a Pointcloud2 message
launch_testing_examples	0.15.5	Examples of simple launch tests

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3. 在 ROS 2 Humble 栈中的关系

最小示例节点

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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

examples 为含 22 个子包的源码树，是 ROS 2 Humble 发行版的一部分。