# ros2_ws

**Repository Path**: fromyuhu/ros2_ws

## Basic Information

- **Project Name**: ros2_ws
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-09-29
- **Last Updated**: 2025-10-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS2 Multi-Node Launch Management Example

## Project Overview
This project demonstrates various node management and Launch file usage methods in ROS2, including different implementations of traditional nodes and component-based nodes. It provides rich examples and documentation to help developers quickly master ROS2 launch management mechanisms.

## Core Features
- Various Launch file examples (traditional nodes/component-based nodes)
- Parameter configuration management
- Node communication demonstration
- Performance comparison testing
- Comprehensive documentation system

## Quick Start

### 1. Environment Setup
- Install ROS2 (Recommended version: Foxy or newer)
- Create and enter workspace
```bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
```

### 2. Build Project
```bash
source /opt/ros/foxy/setup.bash
colcon build --packages-select multi_launch_demo
source install/setup.bash
```

### 3. Run Tests

#### Method 1: Use Interactive Test Script (Recommended)
```bash
cd src/test/multi_launch_demo
chmod +x run_demo.sh
./run_demo.sh
```

#### Method 2: Directly Use Launch Command
```bash
ros2 launch multi_launch_demo basic_multi_launch.py
```

#### Method 3: Launch With Parameters
```bash
ros2 launch multi_launch_demo advanced_multi_launch.py use_sim_time:=true
```

### 4. Verify Execution

#### View Running Nodes
```bash
ros2 node list
```

#### View Topics
```bash
ros2 topic list
```

#### Monitor Messages
```bash
ros2 topic echo /chatter
```

## Key Features

### Traditional Node Approach
- Support for running multiple independent nodes
- Complete parameter configuration
- Topic and service communication

### Component-Based Approach
- Use of ROS2 component framework
- Lower memory footprint
- Faster communication speed
- Better system integration

### Testing Features
#### Automated Testing Scripts
Provide interactive scripts to run various test cases with one click

#### Performance Testing Mode
Supports high-frequency communication testing, stress testing, and latency testing

#### Monitoring and Debugging
Provides a complete monitoring toolchain to view system status in real time

## Learning Path

### Beginner Path
1. Read basic documentation
2. Run basic examples
3. Understand Launch file structure
4. Try modifying parameter configurations

### Advanced User Path
1. Gain in-depth understanding of component communication mechanisms
2. Learn performance optimization techniques
3. Master advanced Launch features
4. Practice complex system integration

### Expert User Path
1. Research component loading mechanisms
2. Analyze system performance bottlenecks
3. Develop customized components
4. Contribute code and documentation

## Contribution Guide
Code and documentation contributions are welcome! Please follow these steps:
1. Fork the repository
2. Create a new branch
3. Commit your changes
4. Submit a Pull Request

## License
This project uses the Apache-2.0 License. Please refer to the LICENSE file for detailed information.

## Contact Information
For questions or suggestions, please submit an Issue or contact the maintainer via the Gitee repository.