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
1. 定位
examples 目录含 22 个 ROS 2 包，工作区路径见下。
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 |
3. 在 ROS 2 Humble 栈中的关系
最小示例节点
4. 推荐阅读顺序
- 阅读各子包
package.xml2. 入口源码 3. 下游依赖方
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。