ROS1 ROS2 使用时的一些差异

ROS1 ROS2 使用时的一些差异

编译

catkin 编译 --> colcon 编译

catkin_make --> colcon build

catkin_make -DCATKIN_WHITELIST_PACKAGES =“ package1; package2”
---
colcon build --packages-select  PACKAGE_NAME1 PACKAGE_NAME2

source & .bashrc

devel -->install

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
---
echo "source ~/colcon_ws/install/setup.bash" >> ~/.bashrc

terminal command

rosrun -->; ros2 run
rosnode -->; ros2 node
roslaunch -->; ros2 launch
rosparam -->; ros2 param
rospkg -->; ros2 pkg
rosservice -->; ros2 service 
rossrv -->; ros2 srv
rostopic -->; ros2 topic
rosaction -->; ros2 action

rviz–>rviz2