ROS2 foxy 学习1 ：认识节点=模块

environment：

Linux pc 5.17.1-051701-generic #202203290924-Ubuntu SMP PREEMPT Tue Mar 29 09:30:23 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux

Ubuntu20.04

安装：Installing ROS 2 via Debian Packages — ROS 2 Documentation: Foxy documentation

教程：Tutorials — ROS 2 Documentation: Foxy documentation

安装好之后配置Setup:

source /opt/ros/foxy/setup.bash

echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc  //避免每次cmd输入上一行命令

DDS:The ROS_DOMAIN_ID — ROS 2 Documentation: Foxy documentation

As explained elsewhere, the default middleware that ROS 2 uses for communication is DDS. In DDS, the primary mechanism for having different logical networks share a physical network is known as the Domain ID. ROS 2 nodes on the same domain can freely discover and send messages to each other, while ROS 2 nodes on different domains cann