Fast-DDS介绍
✨步子哥 (steper) •
2025年09月25日 05:44
<!DOCTYPE html>
<html lang="zh-CN">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>Fast-DDS介绍</title>
<link href="https://fonts.googleapis.com/icon?family=Material+Icons" rel="stylesheet">
<link href="https://fonts.googleapis.com/css2?family=Futura:wght@400;500;700&display=swap" rel="stylesheet">
<style>
@font-face {
font-family: 'DingTalk JinBuTi';
src: local('DingTalk JinBuTi');
}
@font-face {
font-family: 'HarmonyOS Sans SC';
src: local('HarmonyOS Sans SC');
}
@font-face {
font-family: 'PingFang HK';
src: local('PingFang HK');
}
* {
margin: 0;
padding: 0;
box-sizing: border-box;
}
body {
font-family: 'HarmonyOS Sans SC', sans-serif;
background: linear-gradient(135deg, #f5f7fa 0%, #e4eaf5 100%);
color: #333;
line-height: 1.6;
}
.poster-container {
width: 1080px;
min-height: 960px;
margin: 0 auto;
padding: 40px;
background: linear-gradient(135deg, #ffffff 0%, #f0f4f8 100%);
box-shadow: 0 10px 30px rgba(0, 0, 0, 0.1);
border-radius: 16px;
overflow: hidden;
position: relative;
}
.poster-container::before {
content: "";
position: absolute;
top: -50px;
right: -50px;
width: 300px;
height: 300px;
border-radius: 50%;
background: linear-gradient(135deg, rgba(41, 121, 255, 0.1) 0%, rgba(0, 82, 212, 0.05) 100%);
z-index: 0;
}
.poster-container::after {
content: "";
position: absolute;
bottom: -100px;
left: -100px;
width: 400px;
height: 400px;
border-radius: 50%;
background: linear-gradient(135deg, rgba(255, 145, 0, 0.1) 0%, rgba(255, 87, 34, 0.05) 100%);
z-index: 0;
}
.header {
text-align: center;
margin-bottom: 30px;
position: relative;
z-index: 1;
}
.title {
font-family: 'DingTalk JinBuTi', sans-serif;
font-size: 42px;
font-weight: bold;
color: #1565C0;
margin-bottom: 15px;
letter-spacing: -1px;
}
.subtitle {
font-family: 'HarmonyOS Sans SC', sans-serif;
font-size: 20px;
color: #546E7A;
margin-bottom: 30px;
}
.section {
margin-bottom: 30px;
position: relative;
z-index: 1;
}
.intro-card {
background-color: white;
border-radius: 12px;
padding: 25px;
box-shadow: 0 4px 12px rgba(0, 0, 0, 0.08);
margin-bottom: 30px;
}
.section-title {
font-family: 'DingTalk JinBuTi', sans-serif;
font-size: 28px;
font-weight: bold;
color: #1565C0;
margin-bottom: 20px;
display: flex;
align-items: center;
}
.section-title .material-icons {
margin-right: 10px;
color: #FF9800;
font-size: 32px;
}
.intro-content {
font-size: 18px;
color: #546E7A;
line-height: 1.6;
}
.highlight {
color: #FF9800;
font-weight: 500;
}
.features-grid {
display: grid;
grid-template-columns: repeat(2, 1fr);
gap: 20px;
margin-bottom: 30px;
}
.feature-card {
background-color: white;
border-radius: 12px;
padding: 20px;
box-shadow: 0 4px 12px rgba(0, 0, 0, 0.08);
transition: transform 0.3s ease, box-shadow 0.3s ease;
height: 100%;
display: flex;
flex-direction: column;
}
.feature-card:hover {
transform: translateY(-5px);
box-shadow: 0 8px 16px rgba(0, 0, 0, 0.12);
}
.feature-header {
display: flex;
align-items: center;
margin-bottom: 15px;
}
.feature-icon {
width: 50px;
height: 50px;
border-radius: 50%;
background-color: #E3F2FD;
display: flex;
justify-content: center;
align-items: center;
margin-right: 15px;
flex-shrink: 0;
}
.feature-icon .material-icons {
color: #1565C0;
font-size: 28px;
}
.feature-title {
font-family: 'DingTalk JinBuTi', sans-serif;
font-size: 24px;
font-weight: bold;
color: #1565C0;
}
.feature-content {
font-size: 18px;
color: #546E7A;
flex-grow: 1;
}
.feature-content ul {
list-style-type: none;
padding-left: 0;
}
.feature-content li {
margin-bottom: 10px;
position: relative;
padding-left: 25px;
}
.feature-content li:before {
content: "•";
color: #FF9800;
font-size: 24px;
position: absolute;
left: 0;
top: -5px;
}
.application-section {
background-color: white;
border-radius: 12px;
padding: 25px;
box-shadow: 0 4px 12px rgba(0, 0, 0, 0.08);
margin-bottom: 30px;
}
.application-grid {
display: grid;
grid-template-columns: repeat(3, 1fr);
gap: 15px;
}
.application-item {
background-color: #F5F7FA;
border-radius: 8px;
padding: 15px;
display: flex;
flex-direction: column;
align-items: center;
text-align: center;
}
.application-icon {
width: 60px;
height: 60px;
border-radius: 50%;
background-color: #E3F2FD;
display: flex;
justify-content: center;
align-items: center;
margin-bottom: 10px;
}
.application-icon .material-icons {
color: #1565C0;
font-size: 32px;
}
.application-title {
font-family: 'DingTalk JinBuTi', sans-serif;
font-size: 18px;
font-weight: bold;
color: #1565C0;
margin-bottom: 8px;
}
.application-description {
font-size: 16px;
color: #546E7A;
}
.resources-section {
background-color: white;
border-radius: 12px;
padding: 25px;
box-shadow: 0 4px 12px rgba(0, 0, 0, 0.08);
}
.resources-grid {
display: grid;
grid-template-columns: repeat(2, 1fr);
gap: 15px;
}
.resource-item {
background-color: #F5F7FA;
border-radius: 8px;
padding: 15px;
display: flex;
align-items: center;
}
.resource-icon {
width: 50px;
height: 50px;
border-radius: 50%;
background-color: #E3F2FD;
display: flex;
justify-content: center;
align-items: center;
margin-right: 15px;
flex-shrink: 0;
}
.resource-icon .material-icons {
color: #1565C0;
font-size: 28px;
}
.resource-content {
flex-grow: 1;
}
.resource-title {
font-family: 'DingTalk JinBuTi', sans-serif;
font-size: 18px;
font-weight: bold;
color: #1565C0;
margin-bottom: 5px;
}
.resource-description {
font-size: 16px;
color: #546E7A;
}
.footer {
text-align: center;
margin-top: 40px;
color: #78909C;
font-size: 14px;
position: relative;
z-index: 1;
}
</style>
</head>
<body>
<div class="poster-container">
<div class="header">
<h1 class="title">Fast-DDS介绍</h1>
<p class="subtitle">高性能开源DDS实现，ROS 2的默认中间件</p>
</div>
<div class="section">
<div class="intro-card">
<h2 class="section-title">
<i class="material-icons">info</i>
简介
</h2>
<div class="intro-content">
<p>Fast-DDS是由<span class="highlight">eProsima</span>开发的开源<span class="highlight">DDS（Data Distribution Service）</span>实现，完全符合OMG DDS标准。作为ROS 2的默认DDS实现之一，Fast-DDS通过<span class="highlight">RMW_FastRTPS_cpp</span>与ROS 2集成，为机器人应用提供高性能、可靠的数据分发服务。</p>
</div>
</div>
<div class="features-grid">
<div class="feature-card">
<div class="feature-header">
<div class="feature-icon">
<i class="material-icons">speed</i>
</div>
<h2 class="feature-title">主要特性</h2>
</div>
<div class="feature-content">
<ul>
<li><span class="highlight">高性能</span>：低延迟和高吞吐量，优化的网络协议和内存管理</li>
<li><span class="highlight">可靠性</span>：提供多种QoS策略，确保数据传输的可靠性</li>
<li><span class="highlight">可扩展性</span>：支持大规模分布式系统，可扩展到数千个节点</li>
<li><span class="highlight">跨平台</span>：支持Windows、Linux、macOS等多种操作系统</li>
<li><span class="highlight">安全性</span>：提供认证、加密和访问控制等安全功能</li>
</ul>
</div>
</div>
<div class="feature-card">
<div class="feature-header">
<div class="feature-icon">
<i class="material-icons">settings</i>
</div>
<h2 class="feature-title">技术特点</h2>
</div>
<div class="feature-content">
<ul>
<li><span class="highlight">支持DDS标准</span>：完全符合OMG DDS标准，提供完整的DDS API</li>
<li><span class="highlight">灵活的QoS策略</span>：支持多种服务质量配置，适应不同应用场景</li>
<li><span class="highlight">高效的发现协议</span>：优化的节点发现机制，减少网络开销</li>
<li><span class="highlight">监控工具</span>：提供图形化监控工具Fast DDS Monitor</li>
<li><span class="highlight">丰富的API</span>：支持C++、Java等多种编程语言</li>
</ul>
</div>
</div>
</div>
<div class="application-section">
<h2 class="section-title">
<i class="material-icons">integration_instructions</i>
在ROS 2中的应用
</h2>
<div class="application-grid">
<div class="application-item">
<div class="application-icon">
<i class="material-icons">settings_ethernet</i>
</div>
<h3 class="application-title">默认DDS实现</h3>
<p class="application-description">作为ROS 2的默认DDS实现之一，提供稳定可靠的通信基础</p>
</div>
<div class="application-item">
<div class="application-icon">
<i class="material-icons">memory</i>
</div>
<h3 class="application-title">RMW集成</h3>
<p class="application-description">通过RMW_FastRTPS_cpp与ROS 2无缝集成，支持所有ROS 2通信机制</p>
</div>
<div class="application-item">
<div class="application-icon">
<i class="material-icons">tune</i>
</div>
<h3 class="application-title">QoS配置</h3>
<p class="application-description">支持ROS 2的QoS策略，可根据应用需求调整通信质量</p>
</div>
</div>
</div>
<div class="resources-section">
<h2 class="section-title">
<i class="material-icons">source</i>
如何使用和获取资源
</h2>
<div class="resources-grid">
<div class="resource-item">
<div class="resource-icon">
<i class="material-icons">code</i>
</div>
<div class="resource-content">
<h3 class="resource-title">GitHub仓库</h3>
<p class="resource-description">https://github.com/eProsima/Fast-DDS</p>
</div>
</div>
<div class="resource-item">
<div class="resource-icon">
<i class="material-icons">menu_book</i>
</div>
<div class="resource-content">
<h3 class="resource-title">官方文档</h3>
<p class="resource-description">https://fast-dds.docs.eprosima.com/</p>
</div>
</div>
<div class="resource-item">
<div class="resource-icon">
<i class="material-icons">forum</i>
</div>
<div class="resource-content">
<h3 class="resource-title">社区支持</h3>
<p class="resource-description">Discord、ROS Discourse、Stack Overflow</p>
</div>
</div>
<div class="resource-item">
<div class="resource-icon">
<i class="material-icons">download</i>
</div>
<div class="resource-content">
<h3 class="resource-title">安装方式</h3>
<p class="resource-description">二进制包、源码编译、Docker容器</p>
</div>
</div>
</div>
</div>
</div>
<div class="footer">
<p>基于2025年最新实践的综合评估</p>
</div>
</div>
</body>
</html>
登录后可参与表态