备注

You're reading the documentation for a development version. For the latest released version, please have a look at Lyrical.

Introspection and analysis

Coming Soon

• Introspection with command line tools
  • Usage
  • Example
  • ROS 2 Daemon: Background Discovery Service
    • Running the Daemon in the Foreground
  • Implementation
• ROS 2 Security
  • Overview
  • The Security Enclave
  • Security Files
    • Enclave Identity
    • Enclave Permissions
    • Private Keys
  • Security Environment Variables
  • Learn More
• Publishing messages using YAML files
  • Overview
  • Prerequisites
  • Tasks
  • Next steps
• Enabling topic statistics (C++)
  • Background
  • Prerequisites
  • Tasks
    • 1 Write the subscriber node with statistics enabled
    • 2 Build and run
    • 3 Observe published statistic data
  • Summary
  • Related content
• Using Fast DDS Discovery Server as discovery protocol [community-contributed]
  • Background
  • Fast DDS Discovery Server v2
  • Prerequisites
  • Run this tutorial
    • Setup Discovery Server
    • Launch listener node
    • Launch talker node
    • Demonstrate Discovery Server execution
    • Visualization tool rqt_graph
  • Advanced use cases
    • Server Redundancy
    • Backup Server
    • Discovery partitions
    • Large number of participants
  • ROS 2 Introspection
    • Daemon's related tools
    • No Daemon tools
  • Compare Fast DDS Discovery Server with Simple Discovery Protocol
• Unlocking the potential of Fast DDS middleware [community-contributed]
  • Background
  • Prerequisites
  • Mixing synchronous and asynchronous publications in the same node
    • Create the node with the publishers
    • Create the XML file with the profile configuration
    • Execute the publisher node
    • Create a node with the subscribers
    • Execute the subscriber node
    • Analysis of the example
  • Using other FastDDS capabilities with XML
    • Limiting the number of matching subscribers
    • Using partitions within the topic
  • Configuring a service and a client
    • Create the nodes with the service and client
    • Create the XML profiles for the service and client
    • Execute the nodes
• Improved Dynamic Discovery
  • Overview
  • Configuration Parameters
  • Examples
• How to use ros2_tracing to trace and analyze an application
  • Overview
  • Prerequisites
  • Installing and building
  • Tracing
    • Step 1: Trace
    • Step 2: Run Application
    • Step 3: Validate Trace
  • Analysis
  • Conclusion
• Security
  • Setting up security
    • Background
    • Installation
    • Run the demo
    • Take the Quiz!
    • Learn More!
  • Ensuring security across machines
    • Background
    • Create the second keystore
    • Copy files
    • Launch the nodes
  • Examining network traffic
    • Overview
    • Prerequisites
    • Run the demo
  • Setting access controls
    • Background
• Logging
  • Using log statements in code
    • Basic logging
    • Logging only the first time
    • Logging all but the first time
    • Logging throttled
    • Logging throttled all but the first time
  • Logging demo
  • Logging directory configuration
  • Logger level configuration: programmatically
  • Logger level configuration: externally
    • Using the logger config component
  • Logger level configuration: command line
    • Console output formatting
    • Console output colorizing
    • Default stream for console output
    • Line buffered console output
  • Setting the log file name prefix
• Configure service introspection
  • Overview
  • Installing the demo
  • Introspection Configuration State
  • Introspection demo
  • Related content
• Passing ROS arguments to nodes via the command-line
  • Name remapping
    • Example
  • Logger configuration
  • Parameters
    • Setting parameters directly from the command line
    • Setting parameters from YAML files