«««< HEAD 這個網站是ROS 2.0設計理念的中文化網頁，旨在讓大家了解ROS 2.0的設計理念，並提供開發者努力的方向。 ROS 2.0的設計是要保存ROS 1.x版本的優良部份，並改進ROS1.x所沒有的功能。
This site is repository of articles which are designed to inform and guide the ROS 2.0 design efforts. The goal of the ROS 2.0 project is to leverage what is great about ROS 1.x and improve what isn’t.
If you would like to contribute to this site, checkout the contribute page to learn how. If you would like to contribute to the ROS 2.0 project, see this page for more details.
The best mailing list for discussing these topics is ros-sig-ng-ros@googlegroups.com, the Special Interest Group on Next-Generation ROS mailing list. You can view the archives here.
這篇文章描述為什麼要對ROS的API做突破性修改，即ROS 2.0。
This article captures some stories which drive the direction of features in ROS.
This article describes the meta build system “ament”.
This article provides an overview about the changes being made in ROS 2 compared to ROS 1.
這篇文章討論如何使用DDS來開發ROS 2.0，列出這種作法的優缺點，並討論使用者經驗和API帶來的影響。我們也會針對我們實作的prototype “ros_dds”給一些總結意見，並探討其中潛藏的問題。
This article describes the rationale for using an abstract middleware interface between ROS and a specific middleware implementation. It will outline the targeted use cases as well as their requirements and constraints. Based on that the developed middleware interface is explained.
This article specifies the file format describing the data structures exchanged by ROS 2 components to interact with each other.
This article specifies the mapping between the ROS interface types and the DDS types.
This article describes the generated C++ code for ROS 2 interfaces.
This article describes the generated Python code for ROS 2 interfaces.
這篇文章討論如何使用ZeroMQ跟其他的函式庫來開發ROS 2.0。此外，我們在OSRF(Open Source Robotic Foundation)使用ZeroMQ開發出的prototype也會在這篇文章中被討論。
This article is an exploration of possible design patterns for the next generation of ROS Remote Procedure Call interfaces. We focus here on specifying the user API and leave the implementation unspecified. It is expected that there are one or more RPC implementations which can be used, such as Apache Thrift, ROS RPC, or MsgPack.
This article is proposed design for the interfaces for interacting with parameters in ROS 2.0. We focus here on specifying the system design and leave the implementation unspecified.
This article is a brief survey of real-time computing requirements and methods to achieve real-time performance.
Proposal for a test-driven approach to the real-time performance requirement in ROS 2.
This article describes the ROS primitives to support programming which can run both in real time as well as simulated time which may be faster or slower.
This article describes the proposed mapping between ROS topic and service names to DDS topic and service names.
This article has been moved to https://github.com/ros2/ros2/wiki/Migration-Guide.
This article lays out the logical components and possibilities within a discovery and transport negotiation system. This article was written to try and understand the different possibilities for how the middleware could be implemented.
This article describes the concept of a node with a managed life cycle. It aims to document some of the options for supporting manage d-life cycle nodes in ROS 2. It has been written with consideration for the existing design of the ROS 2 C++ client library, and in particular the current design of executors.
This article describes the approach to provide QoS (Quality of Service) policies for ROS 2.0.
This article captures the research done in regards to the serialization component, including an overview of the current implementation in ROS 1.x and the alternatives for ROS 2.0.