posts/20250903175454-%E9%B1%BC%E5%92%8C%E7%86%8A%E6%8E%8C%E6%88%91%E8%A6%81%E5%85%BC%E5%BE%97_ros2%E9%80%82%E5%90%88%E9%87%8F%E4%BA%A7%E5%90%97/

[utterances-bot]

鱼和熊掌我要兼得：ROS2适合量产吗

self-reflections of Zhenfei Yang

https://www.yangzhenfei.com/posts/20250903175454-%E9%B1%BC%E5%92%8C%E7%86%8A%E6%8E%8C%E6%88%91%E8%A6%81%E5%85%BC%E5%BE%97_ros2%E9%80%82%E5%90%88%E9%87%8F%E4%BA%A7%E5%90%97/

[ZhenshengLee]

v6-ros2_shm_msgs跨进程零拷贝，用于解耦，对cpu优化不太大
v7-waitset 无回调编程模式，减少cpu占用率
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v9-下一代通信中间件zenoh
v10-确定性调度器

wechat: zhensheng_li