├── 0-SOA概念 ├── 1-ActorModel.md ├── 2-SOA.md ├── 3-网络编程模式.md ├── 4-网络库与中间件.md ├── 5-DDS的依赖.md ├── 6-常见协议概念.md └── pdf │ └── RoboticSystemsofSystemsBasedonaDecentralizedSOA.pdf ├── 1-RCL ├── 0-概念 │ ├── 1-ROS2与DDS.md │ ├── 2-ROS2编程模型.md │ ├── 3-Nvidia对ROS2支持.md │ └── 5-ROS2版本重要更新.md ├── 1-rcl接口 │ ├── 1-rcl与rclcpp的关系.md │ ├── 2-rcl与dds关系.md │ ├── 3-rcl与dds实体映射关系.md │ ├── 4-LOCALHOST_ONLY.md │ └── 5-fastdds-discovery-server.md ├── 2-rcl实现 │ ├── 0-rcl概览.md │ ├── 1-rcl-context.md │ ├── 2-rcl-topic.md │ ├── 3-rcl-service.md │ ├── 4-rcl-action.md │ ├── 5-rcl-lifecycle.md │ ├── 6-rcl-logging.md │ └── 7-rcutils.md ├── 3-rclcpp通信管理 │ ├── 0-通信模式及接口.md │ ├── 1-进程内通信.md │ ├── 10-type-adaption-intra.md │ ├── 11-动态配置qos.md │ ├── 2-共享内存通信.md │ ├── 2-零拷贝通信.md │ ├── 3-多机通信.md │ ├── 4-ros2-QoS.md │ ├── 5-同步和异步发布.md │ ├── 6-通信模式实现原理.md │ ├── 7-发现机制discovery.md │ ├── 8-使用单一通信网络.md │ └── 9-ROS_DOMAIN_ID.md ├── 4-rclcpp执行管理 │ ├── 0-概述和结论.md │ ├── 1-executor原理.md │ ├── 2-executor综述.md │ ├── 3-rclc-management.md │ ├── 4-mte-cbg.md │ ├── 5-bunch-ste-cbg.md │ ├── 6-events-executor.md │ ├── 7-let-executor.md │ ├── 8-waitset-nonexecutor.md │ └── 9-executor的概念.md ├── 5-rclcpp节点管理 │ ├── 1-composedNodes.md │ ├── 2-composition.md │ └── 3-composition使用.md ├── 6-rclcpp实现 │ ├── 1-rclcpp流程.md │ ├── 2-memory_strategies.md │ └── 3-rcpputils.md ├── 7-rclcpp扩展 │ ├── 1-lifecycle-node.md │ ├── 2-lifecycle-manager.md │ ├── 3-cascade_lifecycle_node.md │ ├── 4-system-modes.md │ └── 5-action.md └── 8-高级话题 │ ├── 1-ROS2进程启动和停止流程.md │ ├── 2-rclcpp中的数据传输分析.md │ └── 3-ros1-node-like-component.md ├── 10-MicroROS └── .gitkeep ├── 2-RMW ├── 0-dds规范 │ ├── 0-主流dds产品对比.md │ ├── 1-content-filtered-topic.md │ └── 2-fastdds版本重要更新.md ├── 1-dds使用 │ ├── 1-cyclonedds │ │ ├── 1-cyclonedds介绍.md │ │ └── 2-cyclonedds使用.md │ ├── 2-iceoryx │ │ ├── 1-iceoryx介绍.md │ │ └── 2-iceoryx使用.md │ ├── 3-fastdds │ │ ├── 1-fastdds介绍.md │ │ ├── 2-fastdds使用.md │ │ └── 3-fastdds调测.md │ ├── 4-ecal │ │ ├── 1-ecal介绍.md │ │ └── 2-ecal使用.md │ └── 5-connextdds │ │ └── 1-connextdds介绍.md ├── 2-dds设计 │ ├── 0-dds架构.md │ ├── 1-cyclonedds │ │ ├── 1-cyclonedds架构.md │ │ └── 2-cyclonedds设计.md │ ├── 2-iceoryx │ │ ├── 1-iceoryx架构.md │ │ └── 2-iceoryx设计.md │ ├── 3-fastdds │ │ ├── 1-fastdds架构.md │ │ └── 2-fastdds设计.md │ ├── 4-ecal │ │ ├── 1-ecal架构.md │ │ └── 2-ecal设计.md │ └── 5-connextdds │ │ └── 1-connextdds架构.md ├── 3-rmw使用 │ ├── 0-rmw的互通.md │ ├── 1-cyclonedds │ │ ├── 1-rmw_cyclonedds使用.md │ │ └── 2-rmw_cyclonedds零拷贝.md │ ├── 2-iceoryx │ │ ├── 1-rmw_iceoryx使用.md │ │ └── 2-rmw_iceoryx零拷贝.md │ ├── 3-fastdds │ │ ├── 1-rmw_fastdds使用.md │ │ └── 2-rmw_fastdds零拷贝.md │ ├── 4-ecal │ │ ├── 1-rmw_ecal使用.md │ │ └── 2-rmw_ecal零拷贝.md │ └── 5-connextdds │ │ └── 1-rmw_connextdds使用.md ├── 4-rmw接口 │ ├── 0-ROS中的DDS接口.md │ ├── 1-ROS2RMW架构.md │ ├── 2-通信和参数的命名规范.md │ ├── 3-通信和参数的命名映射.md │ ├── 8-ROS2的串行化方法.md │ └── 9-ROS2与zeromq.md ├── 5-rmw实现 │ ├── 0-总体设计 │ │ ├── 1-rmw实现支持包.md │ │ └── 2-rmw实现设计.md │ ├── 1-cyclonedds │ │ └── 1-rmw_cyclonedds分析.md │ ├── 2-iceoryx │ │ └── 1-rmw_iceoryx分析.md │ ├── 3-fastdds │ │ └── 1-rmw_fastdds分析.md │ └── 4-ecal │ │ └── 1-rmw_ecal分析.md ├── 6-rosidl接口 │ ├── 1-rosidl总体架构.md │ ├── 2-rosidl介绍.md │ ├── 3-rosidl命名规范.md │ └── 4-ros与idl类型映射.md ├── 7-rosidl实现 │ ├── 1-rosidl包.md │ ├── 2-rosidl代码生成.md │ ├── 3-IDLcpp接口.md │ ├── 4-IDLc接口.md │ ├── 5-rosidl构建物.md │ └── 6-rmw与typesupport.md └── 8-DataExchangeFormat │ ├── 0-DEF概述.md │ ├── 1-ddsidl.md │ ├── 2-protobuf.md │ ├── 3-capnproto.md │ ├── 4-flatbuffers.md │ ├── 5-messagepack.md │ ├── 6-nng.md │ └── 7-ros2的消息表示.md ├── 3-内部工具 ├── 1-构建系统 │ ├── 0-构建系统概述.md │ ├── 1-colcon工具 │ │ ├── 1-colcon设计.md │ │ ├── 2-colcon使用.md │ │ ├── 3-colcon高级使用.md │ │ └── 4-colcon-source-setup.md │ ├── 2-ament系统 │ │ ├── 1-ament_cmake设计思想.md │ │ ├── 2-ament_cmake架构设计.md │ │ ├── 3-ament_cmake用户手册.md │ │ ├── 4-ament_cmake_py用户手册.md │ │ ├── 5-ament-index介绍.md │ │ └── 6-ament-index使用.md │ └── 3-打包发布 │ │ ├── 1-交叉编译.md │ │ ├── 2-ccache编译.md │ │ ├── 3-构建deb包.md │ │ └── 4-网络发布包.md ├── 2-软件组件 │ ├── 1-ros2parameter │ │ └── 1-parameter.md │ ├── 2-ros2cli │ │ ├── 1-ros2cli-介绍.md │ │ ├── 2-ros2cli-调试.md │ │ ├── 3-ros2cli-扩展.md │ │ ├── 4-ros2cli-daemon.md │ │ ├── 5-ros2cli-lifecycle.md │ │ └── 6-ros2cli-rclpy-rclcpp.md │ ├── 3-ros2launch │ │ ├── 1-ros2launch-基础.md │ │ ├── 2-ros2launch-高级.md │ │ ├── 3-ros2launch-架构.md │ │ ├── 4-ros2launch-设计.md │ │ ├── 5-ros2launch-源码.md │ │ ├── 6-ros2launch-风格.md │ │ ├── 7-ros2launch-实战.md │ │ └── 8-ros2launch-限制.md │ ├── 4-ros2logging │ │ ├── 1-ros2logging-基础.md │ │ ├── 2-ros2logging-架构.md │ │ ├── 3-ros2logging-设计.md │ │ ├── 4-ros2logging-实战.md │ │ └── 5-ros2logging-限制.md │ └── 8-misc │ │ └── 1-ros2-topic-statistics.md └── 3-机器人工具 │ ├── 1-rosbag2 │ ├── 1-rosbag2-design.md │ ├── 2-rosbag2-playback.md │ ├── 3-rosbag2-snapshot.md │ └── 4-rosbag2-plugin.md │ ├── 2-tf2 │ └── 1-ros2tf2-入门.md │ └── 8-misc │ ├── 1-chrono.md │ ├── 2-gazebo.md │ ├── 3-rviz2.md │ └── 4-urdf.md ├── 4-外部工具 ├── 1-扩展组件 │ ├── 1-ros2-tracing.md │ └── 2-ros2-diag.md └── 2-外部互联 │ ├── 1-互通原理.md │ ├── 2-rmw互通现状.md │ ├── 3-ros2-ros2-bridge.md │ ├── 4-mqtt-bridge.md │ ├── 5-ros2-apollo-bridge.md │ ├── 6-ros2-cyber-bridge.md │ ├── 7-iceoryx-dds-gateway.md │ ├── 8-ros2-dds-raw.md │ └── 9-iceoryx-soa-bridge.md ├── 5-系统性能 ├── 0-LTTng │ ├── 0-Tracing介绍.md │ ├── 1-LTTng介绍.md │ ├── 2-LTTng典型用法.md │ ├── 3-babeltrace.md │ ├── 4-tracecompass.md │ ├── 5-ROS1示例.md │ ├── 6-lttng-analysis.md │ ├── 7-lttng内核分析.md │ └── 9-lttng优势.md ├── 1-app-tracing │ ├── 1-ros2-tracing.md │ ├── 2-tracetools.md │ ├── 3-e2e-latency.md │ ├── 4-e2e-noarch.md │ ├── 5-comm-latency.md │ ├── 6-callback-duration.md │ ├── 7-node-execution-time.md │ ├── 8-pubsub-jitter.md │ └── 9-CARET.md ├── 2-DDS-tracing │ └── 1-cyclonedds检测点.md ├── 3-Kernel-tracing │ └── 1-tracecompass.md ├── 4-testing-platform │ ├── 1-buildfarm │ │ ├── 1-buildfarm-test.md │ │ └── 2-buildfarm-test示例.md │ ├── 2-apex-performance-test │ │ ├── 1-apex-performance-test.md │ │ └── 2-apex-performance-test-示例.md │ ├── 3-reference-system │ │ ├── 1-reference-system-test.md │ │ └── 2-reference-system-test-示例.md │ ├── 4-pendulm-test │ │ ├── 1-pendulm-test.md │ │ └── 2-pendulm-test-示例.md │ └── 5-osrf-tsc-report │ │ └── 1-osrf-tsc-report.md ├── 5-dds-performance │ ├── 0-dds通信性能概述.md │ ├── 1-系统配置 │ │ ├── 1-x86-OS配置.md │ │ └── 2-arm-OS配置.md │ ├── 2-零拷贝特性 │ │ ├── 1-基于零拷贝的数据结构.md │ │ └── 2-零拷贝深度答疑.md │ ├── 3-测试报告 │ │ └── 1-中间件测试报告2022.md │ └── 4-misc │ │ └── 1-dds通信性能瓶颈.md ├── 6-rmw-performance │ ├── 1-rmw性能测试报告2021.md │ └── 2-rmw性能测试报告2022.md ├── 7-rclcpp-performance │ ├── 1-executor性能测试报告.md │ └── 2-executor实时性测试报告.md ├── 8-jetson-performance │ ├── 0-影响机器人中间件性能的因素.md │ ├── 1-jetson测试策略.md │ └── 2-ROS的测试策略.md └── 9-tools │ └── stress.md ├── 6-实时系统 ├── 0-Concepts │ ├── 0-概述和结论.md │ ├── 1-实时系统概念.md │ └── 2-机器人系统确定性.md ├── 1-SOC │ └── .gitkeep ├── 2-RTOS │ ├── 1-系统选型 │ │ └── .gitkeep │ ├── 2-OSes │ │ └── 1-Linux │ │ │ ├── 1-方案 │ │ │ ├── 1-Linux实时调度-概念.md │ │ │ ├── 2-Linux实时调度-原理.md │ │ │ ├── 3-Linux实时调度-RTPatch.md │ │ │ ├── 4-Linux实时调度-API.md │ │ │ └── 5-Linux实时调度-xenomai3.md │ │ │ └── 2-实施 │ │ │ ├── 1-rt-patch源码方案.md │ │ │ ├── 2-Ubuntu开箱方案.md │ │ │ └── 3-Jetson开箱方案.md │ └── 3-Techniques │ │ ├── memory │ │ └── .gitkeep │ │ └── network │ │ └── .gitkeep ├── 3-DDS │ ├── 1-概念与结论.md │ └── 2-dds中的线程优先级.md ├── 4-RCL │ ├── 0-概述和结论.md │ ├── 1-OFERA-project.md │ ├── 2-cbg-executor.md │ └── 3-延迟管理.md ├── 5-BSW │ ├── 1-memory │ │ ├── 1-static-memory-allocation.md │ │ └── 2-ROS2自定义内存分配器.md │ └── 2-logging │ │ └── realtime-logging.md ├── 6-Tool │ └── 1-概念.md └── 7-App │ ├── 0-支持实时的架构.md │ ├── 1-支持实时性的cpp编码规范.md │ ├── 2-ROS2的实时策略.md │ └── 3-ROS2实时性设置.md ├── 7-功能安全 ├── 0-技术咨询 │ └── .gitkeep ├── 1-流程认证 │ └── .gitkeep ├── 2-产品认证 │ └── .gitkeep ├── 3-人员培训 │ └── .gitkeep ├── 4-FailsafeSystem │ ├── 1-原理 │ │ └── 1-自动驾驶汽车功能安全设计.md │ └── 2-方案 │ │ ├── 0-autoware.auto方案.md │ │ ├── 1-FailsafeAction-总体方案.md │ │ ├── 2-FailsafeAction-系统状态.md │ │ ├── 3-FailsafeAction-方案迭代.md │ │ └── 4-FailsafeAction-与HMI关系.md ├── 5-失效分析 │ ├── .gitkeep │ └── pdf │ │ └── AVP-Failure-Mode-and-Effects-Analysis-2019.pdf ├── 8-信息安全 │ ├── 1-信息安全基础 │ │ └── 1-概念解析.md │ ├── 2-信息安全模型 │ │ └── 1-ROS2信息系统威胁模型.md │ ├── 3-ROS2信息安全方案 │ │ ├── 0-dds信息安全概念.md │ │ └── 1-ROS2信息安全方案.md │ ├── 4-SROS2 │ │ ├── 1-SROS2-设计.md │ │ └── 2-SROS2-使用.md │ └── pdf │ │ └── SROS2-Thesis.pdf └── 9-法律法规标准 │ ├── 1-自动驾驶定义.md │ ├── 2-法律法规标准.md │ └── 3-大图.md ├── 8-算法安全 ├── 1-流程和工具 │ └── .gitkeep ├── 2-软件技术 │ ├── 1-构建安全实时的现代cpp软件.md │ ├── 2-高可靠的ros1到ros2代码移植.md │ └── 3-遵从26262的机器人算法软件.md ├── 3-可复用库 │ └── 1-hoof.md └── 4-实践指南 │ ├── 1-构建安全的算法-设计.md │ ├── 2-构建安全的算法-实现.md │ └── 3-构建安全的算法-集成.md ├── 9-标准遵循 ├── 1-ROS实现标准 │ ├── 1-ROS-REP │ │ ├── 0000-目录索引.md │ │ ├── 0103-计量单位和坐标系.md │ │ ├── 0104-CameraInfo.md │ │ ├── 0104-设计考虑.md │ │ ├── 0105-移动平台坐标系.md │ │ ├── 0107-诊断系统.md │ │ ├── 0135-驱动命名空间.md │ │ ├── 0144-包命名.md │ │ ├── 2000-ROS2发布平台及版本.md │ │ ├── 2001-ROS2版本配置.md │ │ ├── 2003-预定义QoS设置.md │ │ ├── 2005-ROS2包分类.md │ │ ├── 2007-TypeAdaption.md │ │ ├── 2009-TypeNegotiation.md │ │ ├── 2010-VendorPackage.md │ │ ├── 2012-ServiceIntrospection.md │ │ └── 2014-benchmarking.md │ ├── 2-ROS-REP-Plus │ │ └── 1-ros-perception │ │ │ ├── 1-camera-driver.md │ │ │ ├── 2-camera-info.md │ │ │ ├── 3-image-pipeline.md │ │ │ ├── 4-depth-pipeline.md │ │ │ └── 5-laser-pipeline.md │ ├── 3-AutowareGuideline │ │ ├── 1-总体指南和最佳实践 │ │ │ └── .gitkeep │ │ ├── 2-基于Fork的开发流程 │ │ │ └── .gitkeep │ │ ├── 3-文档写作 │ │ │ └── .gitkeep │ │ ├── 4-测试 │ │ │ └── .gitkeep │ │ ├── 5-命名规范 │ │ │ └── .gitkeep │ │ ├── 6-节点层面的异常处理 │ │ │ └── .gitkeep │ │ └── 7-IDE配置规范 │ │ │ └── .gitkeep │ └── 4-ROS-Patterns │ │ └── .gitkeep ├── 2-AUTOSAR-AP │ ├── 0-总体需求 │ │ ├── 1-RS_ProjectObjectives.md │ │ ├── 2-RS_Methodology.md │ │ ├── 3-RS_Main.md │ │ ├── 4-RS_NetworkManagement.md │ │ ├── 5-RS_Safety.md │ │ └── 6-RS_E2E.md │ ├── 0-阅读指南.md │ ├── 1-总体架构 │ │ ├── 1-EXP_PlatformDesign.md │ │ ├── 2-EXP_SWArchitecture.md │ │ ├── 3-EXP_SWArchitecturalDecisions.md │ │ └── 4-RS_General.md │ ├── 2-内部数据接口规约 │ │ ├── 1-SWS_AdaptivePlatformCore.md │ │ ├── 2-SWS_AdaptivePlatformTypes.md │ │ └── 3-SWS_LanguageBindingForModeledAPdatatypes.md │ ├── 3-外部数据接口规约 │ │ ├── 1-Sensor │ │ │ └── 1-EXP_SensorInterfaces.md │ │ └── 2-Actuator │ │ │ └── .gitkeep │ ├── 4-通信协议接口规约 │ │ ├── 1-RS_SOMEIPServiceDiscoveryProtocol.md │ │ ├── 2-RS_SOMEIPProtocol.md │ │ ├── 3-PRS_SOMEIPServiceDiscoveryProtocol.md │ │ ├── 4-PRS_SOMEIPProtocol.md │ │ └── 5-PRS_NetworkManagementProtocol.md │ ├── 5-通信管理 │ │ ├── 1-EXP_ARAComAPI.md │ │ ├── 2-RS_CommunicationManagement.md │ │ ├── 3-SWS_CommunicationManagement.md │ │ ├── 4-SWS_NetworkManagement.md │ │ └── pdf │ │ │ ├── FromSignaltoService.pdf │ │ │ ├── ICSE-03.pdf │ │ │ └── rumez2020.pdf │ ├── 6-线程模型 │ │ ├── 1-RS-ExecutionManagement.md │ │ ├── 2-RS_UpdateAndConfigurationManagement.md │ │ ├── 3-SWS_ExecutionManagement.md │ │ ├── 4-SWS_UpdateAndConfigurationManagement.md │ │ └── 5-ParallelProcessingGuidelines.md │ ├── 7-生命周期管理 │ │ ├── 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