发布ers and Subscribers

Create, send, and receive messages, topics, and network information

ROS shares information usingmessages。Messages are a simple data structure for sharing data. To receive or subscribe to a message, userossubscriber。To send or publish a message userospublisher。看Exchange Data with ROS Publishers and Subscribersfor more information on sending messages.

Functions

`rosmessage`	Create ROS messages
`rosmsg`	Retrieve information about ROS messages and message types
`rosShowDetails`	Display all ROS message contents
`rostopic`	检索有关ROS主题的信息

`rospublisher`	发布message on a topic
`rossubscriber`	Subscribe to messages on a topic
`receive`	Wait for new ROS message
`send`	发布ROS message to topic

rosrate Execute loop at fixed frequency

`ros2message`	Create ROS 2 message structures
`ros2`	Retrieve information about ROS 2 network
`rosShowDetails`	Display all ROS message contents

`ROS2Publisher`	发布messages on a topic
`send`	发布ROS 2 message to topic
`ros2subscriber`	Subscribe to messages on a topic
`receive`	等待新消息
`ros2message`	Create ROS 2 message structures

Blank Message	使用指定消息类型创建空白消息
Blank Message	Create blank ROS 2 message using specified message type
Current Time	Retrieve current ROS time or system time
发布	Send messages to ROS network
Subscribe	Receive messages from ROS network

Blank Message	Create blank ROS 2 message using specified message type
发布	Send messages to ROS 2 network
Subscribe	Receive messages from ROS 2 network

Work with Basic ROS Messages
消息是在ROS中交换数据的主要容器。
内置消息支持万博1manbetx
MATLAB中支万博1manbetx持的ROS消息类型列表^®。
Exchange Data with ROS Publishers and Subscribers
The primary mechanism for ROS nodes to exchange data is sending and receivingmessages。
Work with Specialized ROS Messages
Some commonly used ROS messages store data in a format that requires some transformation before it can be used for further processing.
发布Variable-Length Nested ROS Messages in MATLAB
This example shows how to work with complex ROS messages in MATLAB, such as messages with nested submessages and variable-length arrays.
使用消息结构提高ROS的性能
This example demonstrates the use of ROS message structures, and their benefits and differences from message objects.

Work with Basic ROS 2 Messages
ROSmessagesare the primary container for exchanging data in ROS 2.
Exchange Data with ROS 2 Publishers and Subscribers
The primary mechanism for ROS 2 nodes to exchange data is to send and receivemessages。
Manage Quality of Service Policies in ROS 2
Quality of Service (QoS) policy options allow for changing the behavior of communication within a ROS 2 network.
Manage Quality of Service Policies in ROS 2 Application with TurtleBot
此示例展示了使用ROS 2的应用程序管理服务质量（QOS）策略的最佳实践。
Using ROS Bridge to Establish Communication Between ROS and ROS 2
ROS 2 is newer version of ROS with different architecture.