ROS2通讯

source /opt/ros/humble/setup.bash

ros2 topic list

配置环境变量
WSL2

echo "export ROS_DOMAIN_ID=0" >> ~/.bashrc
echo "export ROS_LOCALHOST_ONLY=0" >> ~/.bashrc
echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> ~/.bashrc
source ~/.bashrc

echo "export MESA_GL_VERSION_OVERRIDE=3.3" >> ~/.bashrc
source ~/.bashrc

Windows

set ROS_DOMAIN_ID=0
set ROS_LOCALHOST_ONLY=0

Windows（永久设置|需要管理员权限）

setx ROS_DOMAIN_ID 0
setx ROS_LOCALHOST_ONLY 0

colcon build --packages-select my_mercury_x1
source install/setup.bash
ros2 launch my_mercury_x1 my_mercury_x1.launch.py