一键安装
wget http://fishros.com/install -O fishros && . fishros
DDS 配置
# domain id
export ROS_DOMAIN_ID=0
network interface 更改后ros2 topic list可能依然没有显示 但cyclonedds ps会显示
export CYCLONEDDS_URI="<CycloneDDS><Domain><General><NetworkInterfaceAddress>192.168.123.234</NetworkInterfaceAddress></General></Domain></CycloneDDS>"
ROS2设置cyclonedds中间件
sudo apt install ros-foxy-rmw-cyclonedds-cpp
#bashrc
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp