Ubuntu 22.04安装和使用ROS1可行吗

点击全文阅读

可行。

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测试结果

ROS1可以一直使用下去的，这一点不用担心。Ubuntu会一直维护的。

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简要介绍 

Debian发行版^_^ 

AI：在Ubuntu 22.04上安装ROS1是可行的，但需要注意ROS1对Ubuntu的支持只到20.04。因此，如果要在22.04上安装ROS1，只能从源码编译安装。

目前的机器人相关操作系统还是面向开发者的（developer）。

与电脑和手机操作系统差异最大的地方，电脑手机操作系统是面向用户的（user），零基础也可以学会用。

机器人相关操作系统何时才能普及呢？只有零基础用户可以使用，才会有普及的可能。

ROS1/2机器人课程的价值和规模

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系统版本 

安装说明

由于ROS官方在Ubuntu 20.04只提供了最新版本Noetic的支持。后续Ubuntu的ROS1安装没有版本号了。

当然由于是Ubuntu直接支持，也不需要key之类的，直接安装即可使用。

直接安装即可：

sudo apt install ros-desktop-full-dev

sudo apt install ros-desktop-full-dev

其他方案

源码编译使用：

https://github.com/lucasw/ros_from_src

ros-o
This organization provides an umbrella to maintain central ROS One projects past noetic. Please contribute your time.

不用ROS1，也可以的。

ros2的功能包：

ros2@ros2-Aspire-4741:~$ sudo apt install ros-humble-
Display all 1935 possibilities? (y or n) 

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典型问题

这时候会出现问题：

ros2@ros2-Aspire-4741:~$ sudo apt install ros-desktop-full-dev 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-core-dev : Depends: catkin but it is not installable
E: Unable to correct problems, you have held broken packages.
ros2@ros2-Aspire-4741:~$ 

Debian和Ubuntu Upstream中的软件包
由于Jochen Sprickerhof和Leopold Palomo Avellaneda的辛勤努力，现在Debian不稳定和Ubuntu Xenial的上游有ROS包，可以从Debian和Ubuntu的主要存储库安装。以下是Jochen在2015年ROSCon上的简短概述：https://vimeo.com/142151399#t=29m15s.
大多数已满桌面的软件包都可用（软件包状态概述：https://wiki.debian.org/DebianScience/Robotics/ROS/Packages)。最初的ROS包已被修改为遵循Debian指南，其中包括将包拆分为多个部分，在某些情况下更改名称，根据FHS指南安装到/usr，以及在共享库上使用soversion。例如，roslib被称为python-roslib，roscpp在libroscpp-dev和libroscpp0d包中。
与来自packages.ROS.org的OSRF提供的ROS包不同，上游存储库中的包没有附加到特定的ROS分布。相反，它们代表了一个滚动版本，将在Debian不稳定版本中定期更新，然后在不同的点定期锁定到下游Debian和Ubuntu发行版中。
不要搅乱
我们强烈建议不要在同一系统上混合来自上游Debian/Uubuntu和packages.ROS.org的ROS包。在某些情况下，这种混合系统可以正常工作，但两组包之间可能存在负面交互。我们正在与Jochen和朋友们合作，通过文档和包冲突规范将出现问题的可能性降至最低，但我们预计仍会存在一些风险，包括一些相当微妙的问题。
因此，我们建议您选择从上游安装软件包或从packages.ros.org安装软件包，但不能两者都安装。您不仅不应该同时安装来自这两个源的软件包，而且如果您打算使用上游软件包（而不是来自packages.ros.org），那么您甚至不应该在您的apt源中（即在/etc/apt/sources*中的任何文件中）有packages.rose.org条目，因为这可能会导致两个源之间名称重叠的软件包混合，例如python-rospkg。
已知差异
与packages.ROS.org的ROS包相比，上游ROS包存在一些差异，人们应该注意：
*程序包集不完整
不出所料，并非所有软件包都能在上游获得。目前，桌面完整版的软件包已经可用，我们预计随着时间的推移，还会有更多的软件包可用。

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解决方案

If the ROS 2 apt repository is in the available apt repositories (/etc/apt/sources.list.d), no ROS 1 packages will be installable. The error will be:

$ apt install ros-core-devReading package lists... DoneBuilding dependency tree... DoneReading state information... DoneSome packages could not be installed. This may mean that you haverequested an impossible situation or if you are using the unstabledistribution that some required packages have not yet been createdor been moved out of Incoming.The following information may help to resolve the situation:The following packages have unmet dependencies: ros-core-dev : Depends: catkin but it is not installableE: Unable to correct problems, you have held broken packages.

%20

%20%20

To%20correct%20this,%20remove%20packages.ros.org%20from%20your sources.list.%20If%20you%20were%20following%20the%20ROS%202%20installation%20guide,%20simply%20remove /etc/apt/sources.list.d/ros2.list

%20

%20

要解决此问题，请从sources.list中删除packages.ros.org。如果您遵循ros%202安装指南，只需删除/etc/apt/sources.list.d/ros2.list 

%20

For%20now,%20to%20support ros1_bridge,%20follow%20the%20instructions%20below%20for%20building%20ROS%202%20from%20source.

%20

%20%20

ROS%202%20Humble（和Rolling）在Ubuntu%2022.04%20Jammy%20Jellyfish上的发布标志着ROS%202首次在没有正式ROS%201发布的平台上发布。虽然ROS%201%20Noetic将在其长期支持窗口期间继续得到支持，但它只针对Ubuntu%2020.04。或者，Debian和Ubuntu中存在ROS%201软件包的上游变体，ROS维护者没有将其作为官方发行版进行维护。
%20本指南概述了目前在Ubuntu%2022.04%20Jammy%20Jellyfish上桥接ROS%202版本和这些上游包的机制。这为那些仍然依赖ROS1，但希望迁移到更新的ROS2和Ubuntu版本的用户提供了一条迁移路径。 

%20

%20

问题解决完成之后，就可以安装ros1了。

%20

出现如下部分，选择y就可以安装ros1了。非常方便，可以和ros2一起使用，但需要一些配置。

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%20

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4%20%20libdynamic-reconfigure-config-init-mutex-dev%20%20libdynamic-reconfigure-config-init-mutex0d%20libegl-dev%20%20libeigen-stl-containers-dev%20libeigen3-dev%20libevent-core-2.1-7%20libevent-dev%20%20libevent-extra-2.1-7%20libevent-openssl-2.1-7%20libevent-pthreads-2.1-7%20%20libexif-dev%20libexif-doc%20libexpat1-dev%20libfabric1%20libflann-dev%20libflann1.9%20%20libfontconfig-dev%20libfontconfig1-dev%20libfreeimage3%20libfreetype-dev%20%20libfreetype6-dev%20libfreexl-dev%20libfreexl1%20libfyba-dev%20libfyba0%20libgdal-dev%20%20libgdal30%20libgdcm-dev%20libgdcm3.0%20libgeometric-shapes-dev%20%20libgeometric-shapes5d%20libgeometry-msgs-dev%20libgeos-c1v5%20libgeos-dev%20%20libgeos3.10.2%20libgeotiff-dev%20libgeotiff5%20libgif-dev%20libgl-dev%20%20libgl1-mesa-dev%20libgl2ps-dev%20libgl2ps1.4%20libgles-dev%20libgles1%20libglew-dev%20%20libglew2.2%20libglu1-mesa-dev%20libglvnd-core-dev%20libglvnd-dev%20libglx-dev%20%20libgme0%20libgpg-error-dev%20libgpgme-dev%20libgphoto2-dev%20libgsm1%20libgts-0.7-5%20%20libgts-bin%20libgvc6%20libgvpr2%20libhdf4-0-alt%20libhdf4-alt-dev%20libhdf5-103-1%20%20libhdf5-cpp-103-1%20libhdf5-dev%20libhdf5-fortran-102%20libhdf5-hl-100%20%20libhdf5-hl-cpp-100%20libhdf5-hl-fortran-100%20libhdf5-mpi-dev%20%20libhdf5-openmpi-103-1%20libhdf5-openmpi-cpp-103-1%20libhdf5-openmpi-dev%20%20libhdf5-openmpi-fortran-102%20libhdf5-openmpi-hl-100%20%20libhdf5-openmpi-hl-cpp-100%20libhdf5-openmpi-hl-fortran-100%20libheif-dev%20%20libheif1%20libhwloc-dev%20libhwloc-plugins%20libhwloc15%20libibverbs-dev%20libibverbs1%20%20libice-dev%20libicu-dev%20libigdgmm12%20libilmbase-dev%20libilmbase25%20%20libimage-geometry-dev%20libimage-geometry1d%20libimage-transport-dev%20%20libimage-transport0d%20libinteractive-markers-dev%20libinteractive-markers2d%20%20libjbig-dev%20libjoint-state-listener1d%20libjpeg-dev%20libjpeg-turbo8-dev%20%20libjpeg8-dev%20libjs-jquery%20libjs-jquery-ui%20libjs-sphinxdoc%20libjs-underscore%20%20libjson-c-dev%20libjsoncpp-dev%20libjsoncpp25%20libjxr0%20libkdl-parser-dev%20%20libkdl-parser1d%20libkml-dev%20libkmlbase1%20libkmlconvenience1%20libkmldom1%20%20libkmlengine1%20libkmlregionator1%20libkmlxsd1%20liblab-gamut1%20liblapack-dev%20%20liblapack3%20liblaser-geometry-dev%20liblaser-geometry0d%20libldap-dev%20%20libldap2-dev%20liblept5%20libllvm14%20liblog4cxx-dev%20liblog4cxx12%20liblz4-dev%20%20liblzma-dev%20libmap-msgs-dev%20libmd4c0%20libmessage-filters-dev%20%20libmessage-filters1d%20libmfx1%20libminizip-dev%20libminizip1%20%20libmove-base-msgs-dev%20libmysqlclient-dev%20libmysqlclient21%20libnav-msgs-dev%20%20libnetcdf-c++4%20libnetcdf-cxx-legacy-dev%20libnetcdf-dev%20libnetcdf19%20%20libnl-3-dev%20libnl-route-3-dev%20libnodelet-dev%20libnodelet-topic-tools-dev%20%20libnodeletlib-dev%20libnodeletlib-tools%20libnodeletlib1d%20libnorm1%20libnuma-dev%20%20liboctomap-dev%20liboctomap1.9%20libodbc2%20libodbccr2%20libodbcinst2%20libogdi-dev%20%20libogdi4.1%20libogg-dev%20libogre-1.12-dev%20libogre1.12.10%20libopencv-calib3d-dev%20%20libopencv-calib3d4.5d%20libopencv-contrib-dev%20libopencv-contrib4.5d%20%20libopencv-core-dev%20libopencv-core4.5d%20libopencv-dev%20libopencv-dnn-dev%20%20libopencv-dnn4.5d%20libopencv-features2d-dev%20libopencv-features2d4.5d%20%20libopencv-flann-dev%20libopencv-flann4.5d%20libopencv-highgui-dev%20%20libopencv-highgui4.5d%20libopencv-imgcodecs-dev%20libopencv-imgcodecs4.5d%20%20libopencv-imgproc-dev%20libopencv-imgproc4.5d%20libopencv-ml-dev%20%20libopencv-ml4.5d%20libopencv-objdetect-dev%20libopencv-objdetect4.5d%20%20libopencv-photo-dev%20libopencv-photo4.5d%20libopencv-shape-dev%20%20libopencv-shape4.5d%20libopencv-stitching-dev%20libopencv-stitching4.5d%20%20libopencv-superres-dev%20libopencv-superres4.5d%20libopencv-video-dev%20%20libopencv-video4.5d%20libopencv-videoio-dev%20libopencv-videoio4.5d%20%20libopencv-videostab-dev%20libopencv-videostab4.5d%20libopencv-viz-dev%20%20libopencv-viz4.5d%20libopencv4.5-java%20libopencv4.5d-jni%20libopenexr-dev%20%20libopenexr25%20libopengl-dev%20libopenjp2-7-dev%20libopenmpi-dev%20libopenmpi3%20%20libopenmpt0%20libopenni-dev%20libopenni-sensor-pointclouds0%20libopenni0%20%20libopenni2-0%20libopenni2-dev%20liborocos-kdl-dev%20liborocos-kdl1.5%20libpathplan4%20%20libpcl-apps1.12%20libpcl-common1.12%20libpcl-conversions-dev%20libpcl-dev%20%20libpcl-features1.12%20libpcl-filters1.12%20libpcl-io1.12%20libpcl-kdtree1.12%20%20libpcl-keypoints1.12%20libpcl-ml1.12%20libpcl-msgs-dev%20libpcl-octree1.12%20%20libpcl-outofcore1.12%20libpcl-people1.12%20libpcl-recognition1.12%20%20libpcl-registration1.12%20libpcl-sample-consensus1.12%20libpcl-search1.12%20%20libpcl-segmentation1.12%20libpcl-stereo1.12%20libpcl-surface1.12%20%20libpcl-tracking1.12%20libpcl-visualization1.12%20libpcre16-3%20libpcre2-16-0%20%20libpcre2-dev%20libpcre2-posix3%20libpcre3-dev%20libpcre32-3%20libpcrecpp0v5%20%20libpgm-5.3-0%20libpmix-dev%20libpmix2%20libpng-dev%20libpng-tools%20libpoco-dev%20%20libpocoactiverecord80%20libpococrypto80%20libpocod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oost-cfg%20python3-rosclean%20%20python3-roscpp-msg%20python3-roscreate%20python3-rosdep2%20python3-rosdistro%20%20python3-rosgraph%20python3-rosgraph-msgs%20python3-rosinstall%20%20python3-rosinstall-generator%20python3-roslaunch%20python3-roslib%20python3-roslz4%20%20python3-rosmake%20python3-rosmaster%20python3-rosmsg%20python3-rosnode%20%20python3-rosparam%20python3-rospkg%20python3-rospy%20python3-rosservice%20%20python3-rostest%20python3-rostopic%20python3-rosunit%20python3-roswtf%20python3-rviz%20%20python3-sensor-msgs%20python3-shape-msgs%20python3-sip%20python3-sip-dev%20%20python3-smclib%20python3-std-msgs%20python3-std-srvs%20python3-stereo-msgs%20%20python3-tf%20python3-tf2%20python3-tf2-msgs%20python3-tf2-ros%20%20python3-tf2-sensor-msgs%20python3-topic-tools%20python3-trajectory-msgs%20%20python3-vcstools%20python3-visualization-msgs%20python3-vtk9%20python3-wstool%20%20python3.10-dev%20qdoc-qt5%20qhelpgenerator-qt5%20qt5-assistant%20%20qt5-gtk-platformtheme%20qt5-qmake%20qt5-qmake-bin%20qt5-qmltooling-plugins%20%20qtattributionsscanner-qt5%20qtbase5-dev%20qtbase5-dev-tools%20qtchooser%20%20qtdeclarative5-dev%20qtdeclarative5-dev-tools%20qttools5-dev%20qttools5-dev-tools%20%20qttools5-private-dev%20qttranslations5-l10n%20ros-actionlib-msgs%20ros-base%20%20ros-base-dev%20ros-base-lisp-dev%20ros-base-python-dev%20ros-cmake-modules%20%20ros-core%20ros-core-dev%20ros-core-lisp-dev%20ros-core-python-dev%20%20ros-core-rosbuild-dev%20ros-desktop%20ros-desktop-dev%20ros-desktop-full%20%20ros-desktop-full-dev%20ros-desktop-full-lisp-dev%20ros-desktop-full-python-dev%20%20ros-desktop-lisp-dev%20ros-desktop-python-dev%20ros-diagnostic-msgs%20%20ros-environment%20ros-geometry-msgs%20ros-map-msgs%20ros-message-generation%20%20ros-message-runtime%20ros-mk%20ros-move-base-msgs%20ros-nav-msgs%20ros-pcl-msgs%20%20ros-perception%20ros-perception-dev%20ros-perception-lisp-dev%20%20ros-perception-python-dev%20ros-robot%20ros-robot-dev%20ros-robot-lisp-dev%20%20ros-robot-python-dev%20ros-robot-state-publisher%20ros-roscpp-msg%20%20ros-rosgraph-msgs%20ros-sensor-msgs%20ros-shape-msgs%20ros-simulators%20%20ros-simulators-dev%20ros-simulators-lisp-dev%20ros-simulators-python-dev%20%20ros-std-msgs%20ros-std-srvs%20ros-stereo-msgs%20ros-tf2-msgs%20ros-topic-tools-srvs%20%20ros-trajectory-msgs%20ros-visualization-msgs%20ros-viz%20ros-viz-dev%20%20ros-viz-python-dev%20rosbash%20rosbuild%20roslang%20roslisp%20rosout%20rospack-tools%20%20rviz%20sbcl%20sip-dev%20subversion%20tcl-dev%20tcl8.6-dev%20tf-tools%20tf2-tools%20tk-dev%20%20tk8.6-dev%20topic-tools%20unixodbc-common%20unixodbc-dev%20uuid-dev%20va-driver-all%20%20vdpau-driver-all%20vtk9%20x11proto-dev%20xorg-sgml-doctools%20xtrans-dev%20zlib1g-devThe%20following%20packages%20will%20be%20upgraded:%20%20curl%20libcurl4%20libfreetype6%20libgpgme11%20libldap-2.5-0%20libpoppler-cpp0v5%20%20libpoppler-glib8%20libpoppler118%20libpython3.10%20libpython3.10-minimal%20%20libpython3.10-stdlib%20libssl3%20libtiff5%20libwebp7%20libwebpdemux2%20libwebpmux3%20%20libx11-6%20libx11-xcb1%20libxml2%20openjdk-11-jre%20openjdk-11-jre-headless%20%20poppler-utils%20python3.10%20python3.10-minimal24%20upgraded,%20903%20newly%20installed,%200%20to%20remove%20and%20370%20not%20upgraded.Need%20to%20get%20557%20MB%20of%20archives.After%20this%20operation,%202,273%20MB%20of%20additional%20disk%20space%20will%20be%20used.Do%20you%20want%20to%20continue?%20[Y/n]%20

%20

---

%20

命令历史

%20

ubuntu22.04%20cmd%20history

%20

 %20 %201%20 ifconfig
%20 %20 %202%20 sudo%20apt%20update 
%20 %20 %203%20 sudo%20apt%20upgrade 
%20 %20 %204%20 sudo%20apt%20install%20xrdp
%20 %20 %205%20 sudo%20systemctl%20restart%20xrdp
%20 %20 %206%20 sudo%20ufw%20allow%20form%20any%20to%20any%20port%203389
%20 %20 %207%20 sudo%20ufw%20allow%20from%20any%20to%20any%20port%203389
%20 %20 %208%20 sudo%20ufw%20allow%203389
%20 %20 %209%20 sudo%20systemctl%20restart%20xrdp
%20 %20 10%20 sudo%20ufw%20allow%20from%20any%20to%20any%20port%203389
%20 %20 11%20 sudo%20ufw%20allow%203389
%20 %20 12%20 sudo%20apt%20update 
%20 %20 13%20 sudo%20apt%20upgrade 
%20 %20 14%20 rqt
%20 %20 15%20 source%20/opt/ros/humble/setup.bash 
%20 %20 16%20 rqt
%20 %20 17%20 locale%20 #%20check%20for%20UTF-8
%20 %20 18%20 sudo%20apt%20update%20&&%20sudo%20apt%20install%20locales
%20 %20 19%20 sudo%20locale-gen%20en_US%20en_US.UTF-8
%20 %20 20%20 sudo%20update-locale%20LC_ALL=en_US.UTF-8%20LANG=en_US.UTF-8
%20 %20 21%20 export%20LANG=en_US.UTF-8
%20 %20 22%20 locale%20 #%20verify%20settings
%20 %20 23%20 sudo%20apt%20install%20software-properties-common
%20 %20 24%20 sudo%20add-apt-repository%20universe
%20 %20 25%20 sudo%20apt%20update%20&&%20sudo%20apt%20install%20curl
%20 %20 26%20 sudo%20curl%20-sSL%20https://raw.githubusercontent.com/ros/rosdistro/master/ros.key%20-o%20/usr/share/keyrings/ros-archive-keyring.gpg
%20 %20 27%20 echo%20"deb%20[arch=$(dpkg%20--print-architecture)%20signed-by=/usr/share/keyrings/ros-archive-keyring.gpg]%20http://packages.ros.org/ros2/ubuntu%20$(.%20/etc/os-release%20&&%20echo%20$UBUNTU_CODENAME)%20main"%20|%20sudo%20tee%20/etc/apt/sources.list.d/ros2.list%20>%20/dev/null
%20 %20 28%20 sudo%20apt%20update
%20 %20 29%20 sudo%20apt%20upgrade
%20 %20 30%20 sudo%20apt%20install%20ros-humble-desktop
%20 %20 31%20 sudo%20apt%20install%20ros-dev-tools
%20 %20 32%20 sudo%20apt%20install%20ros-humble-turtlebot3-gazebo%20ros-humble-turtlebot3-simulations 
%20 %20 33%20 source%20/opt/ros/humble/setup.bash
%20 %20 34%20 ros2%20launch%20turtlebot3_gazebo%20turtlebot3_world.launch.py 
%20 %20 35%20 export%20TURTLEBOT3_MODEL=burger
%20 %20 36%20 ros2%20launch%20turtlebot3_gazebo%20turtlebot3_world.launch.py 
%20 %20 37%20 history
%20 %20 38%20 sudo%20apt%20upgrade 
%20 %20 39%20 ifconfig
%20 %20 40%20 sudo%20rm%20/etc/apt/sources.list.d/ros2.list 
%20 %20 41%20 sudo%20apt%20install%20ros
%20 %20 42%20 ls
%20 %20 43%20 cd%20..
%20 %20 44%20 gedit%20.bashrc
%20 %20 45%20 history
%20 %20 46%20 source%20/opt/ros/humble/setup.bash 
%20 %20 47%20 cd%20/opt/ros
%20 %20 48%20 printenv%20|%20grep%20ROS
%20 %20 49%20 sudo%20apt%20install%20ros-desktop-full-dev 
%20 %20 50%20 sudo%20apt%20update 
%20 %20 51%20 sudo%20apt%20install%20ros-desktop-full-dev 
%20 %20 52%20 sudo%20apt%20install%20catkin
%20 %20 53%20 sudo%20apt%20install%20python3-catkin-pkg
%20 %20 54%20 sudo%20apt%20install%20catkin
%20 %20 55%20 sudo%20apt%20remove%20python3-catkin-pkg%20python3-catkin-pkg-modules
%20 %20 56%20 sudo%20apt%20install%20ros-desktop-full-dev 
%20 %20 57%20 sudo%20apt%20install%20catkin
%20 %20 58%20 sudo%20apt%20install%20python3-catkin-pkg
%20 %20 59%20 sudo%20apt%20autoremove 
%20 %20 60%20 sudo%20apt%20install%20ros-desktop-full-dev 
%20 %20 61%20 printenv%20|%20grep%20ROS
%20 %20 62%20 rosservice%20list 
%20 %20 63%20 rosservice%20-h
%20 %20 64%20 ubuntu 
%20 %20 65%20 cd%20src/
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ROS

机器人操作系统ROS（Robot Operating System）是一种用于机器人编程和控制的开源软件平台。ROS1和ROS2是两个主要的ROS版本。以下是ROS1和ROS2的简要介绍：

ROS1：

ROS1于2007年诞生，由Willow Garage公司开发和维护。它是一个基于Linux的机器人软件控制平台，提供了一系列机器人开发软件（程序库）和工具，包括硬件抽象、子设备控制、传感、识别、绘图、运动规划等功能。ROS1使用基于主题的发布-订阅通信模型，节点之间通过发布和订阅主题来传递消息。

ROS2：

ROS2是ROS的下一代版本，于2019年正式发布。它由ROS基金会负责维护，并进行了许多改进和优化。ROS2的主要特点是支持多种操作系统，包括Linux、Windows和macOS，并且可以运行在多种硬件平台上。ROS2还提供了更高效的、更可靠的的消息传递机制，以及更强大的软件包管理和调试工具。

总的来说，ROS1和ROS2都是用于机器人编程和控制的优秀软件平台，具有广泛的应用和支持。选择哪个版本主要取决于具体的应用需求和硬件平台。

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