ROS2与ROS1的区别
https://blog.csdn.net/qq_16539009/article/details/124060944
下面文章参考文献又很有教程: https://blog.csdn.net/baidu_35692628/article/details/130794383?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_baidulandingword~default-1-130794383-blog-124043163.235v38pc_relevant_sort_base3&spm=1001.2101.3001.4242.2&utm_relevant_index=4
ROS中的命名空间的设定和ROS1基本一致,~表示私有,/表示全局。 private nodehandles in ros 2 - ROS Answers: Open Source Q&A Forum --- ROS 2 中的私有节点句柄 - ROS Answers: Open Source Q&A Forum
官方文档 Migration guide from ROS 1 — ROS 2 Documentation: Humble documentation