ROS1 kinetic+melodic+noetic，可以直接互通，c++程序全部通用的。
按：ROS1/2机器人多机网络通信配置-更新-2022
talker-listener
手机端发布，电脑端接收
电脑端发布，手机端接收。
python乱码：
rostopic pub -r 1 /chatter std_msgs/String "data: '做一个欢乐的机器人，很难吗^_^'"
乱码如下：
使用c++：
中文支持，哇卡卡！
当然如果源码编译肯定ok的。
发和收都是ok。
1815 sudo apt install remmina remmina-plugin-vnc 1816 ifconfig 1817 ping 192.168.8.111 1818 rostopic list 1819 sudo apt install ros-noetic-fkie-multimaster 1820 sudo apt install ros-noetic-fkie-node-manager 1821 sudo apt install ros-noetic-fkie-potree-rviz-plugin 1822 sudo apt install ros-noetic-fkie-master-sync 1823 hostname 1824 roscore 1825 rosrun turtlesim turtle_teleop_key 1826 sudo apt install ros-noetic-fkie-master-discovery 1827 roscore 1828 export ROS_IP=192.168.8.100 1829 roscore 1830 gedit .bashrc 1831 rosrun master_discovery_fkie master_discovery 1832 rosrun fkie_master_discovery master_discovery 1833 rosrun master_discovery_fkie master_discovery 1834 rosrun fkie_master_discovery master_discovery 1835 rosrun fkie_master_discovery master_discovery _robot_host=[192.168.8.111] 1836 rosrun fkie_master_discovery master_discovery _robot_host:=[192.168.8.111] 1837 rosrun fkie_master_discovery master_discovery _robot_hosts:=[192.168.8.111] 1838 rosrun fkie_node_manager_daemon node_manager_daemon 1839 rosrun fkie_node_manager node_manager 1840 sudo apt install python3-grpcio python3-grpc-tools 1841 rosrun fkie_node_manager node_manager 1842 rosrun fkie_node_manager_daemon node_manager_daemon 1843 rosrun fkie_master_sync master_sync 1844 ping 192.168.8.111 1845 rosrun fkie_node_manager remote_nm.py 1846 rostopic list 1847 rostopic echo /master_discovery/linkstats 1848 node_manager 1849 rosrun turtlesim turtlesim_node 1850 node_manager 1851 sudo apt install ros-noetic-fkie-multimaster 1852 sudo apt install python3-grpcio python3-grpc-tools 1853 gedit 1854 node_manager 1855 ifconfig 1856 sudo gedit /etc/hosts 1857 sudo gedit /etc/hostname 1858 sudo gedit /etc/hosts 1859 gedit 1860 roscore 1861 ping ubuntu-phablet 1862 roscore 1863 rosrun turtlesim turtlesim_node 1864 rostopic list 1865 rosrun fkie_master_discovery master_discovery _robot_hosts:=[192.168.8.111] 1866 rosrun usb_cam usb_cam_node 1867 roslaunch usb_cam usb_cam-test.launch 1868 rosrun roscpp_tutorials talker 1869 rosrun roscpp_tutorials listener 1870 rosrun roscpp_tutorials talker 1871 rostopic pub -r 1 /chatter std_msgs/String "data: '做一个欢乐的机器人，很难吗^_^'" 1872 rqt 1873 rostopic echo /chatter / 1874 rostopic echo /chatter 1875 rosrun roscpp_tutorials listener
