机器人中间件Robot Middleware
Robot Middleware
把机器人的驱动、算法与工具接成一套能互相通信的软件骨架。Connect robot drivers, algorithms and tools into a software skeleton whose parts can communicate.
机器人中间件是介于操作系统与机器人应用之间的通信与工具层：让传感器、控制器、规划器等节点以统一方式交换消息、调用服务。
ROS 2 是代表性实现，提供话题、服务、动作等通信原语，配套启动、日志与可视化工具，设计文档公开可查。
它解决的不是某个算法，而是「算法之间怎么连」：换一个规划器或传感器，不必重写整套系统。
Robot middleware is the communication and tooling layer between the operating system and robot applications: sensors, controllers and planners exchange messages and call services in a uniform way.
ROS 2 is a representative implementation, providing communication primitives such as topics, services and actions, with launch, logging and visualisation tools; its design documents are public.
It solves how algorithms connect, not any single algorithm: replacing a planner or sensor does not require rewriting the whole system.
自己搭机器人或与机器人团队协作，绕不开这层骨架。知道中间件管通信与工具、不管智能本身，就能把「系统跑不起来」和「模型不够聪明」两类问题分开排查。Building a robot or working with a robotics team means dealing with this skeleton. Knowing middleware handles communication and tools, not intelligence itself, helps separate system integration failures from model capability failures.
ROS · 机器人操作系统
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