{"id":2364,"date":"2023-04-29T11:24:28","date_gmt":"2023-04-29T02:24:28","guid":{"rendered":"https:\/\/edu.ujhb.org\/?p=2364"},"modified":"2023-04-29T11:24:29","modified_gmt":"2023-04-29T02:24:29","slug":"ros%e5%85%a5%e9%97%a8%ef%bc%88%e4%b8%ad%e6%96%87%e7%89%88%ef%bc%89","status":"publish","type":"post","link":"https:\/\/edu.ujhb.org\/?p=2364","title":{"rendered":"ROS\u5165\u95e8\uff08\u4e2d\u6587\u7248\uff09"},"content":{"rendered":"\n<p>\u6211\u662f\u8981\u505aIT\u6559\u7a0b\u7684\u89c6\u9891\uff0c\u4f60\u80fd\u5426\u6839\u636e\u7f51\u7ad9\u7684\u5185\u5bb9\uff0c\u4e3a\u6211\u5b89\u6392\u89c6\u9891\u6559\u7a0b\u7684\u6587\u5b57\u5185\u5bb9\u3002\u6211\u4eec\u5148\u4eceROS\u6559\u7a0b\u5f00\u59cb\uff0c\u4f60\u5148\u4e3a\u6211\u5217\u51fa\u8981\u8bb2\u89e3\u7684\u5185\u5bb9\u4e00\u89c8\u3002ChatGPT<\/p>\n\n\n\n<p>\u5f53\u7136\u53ef\u4ee5\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u6559\u7a0b\u7684\u89c6\u9891\u6559\u7a0b\u5927\u7eb2\u3002\u60a8\u53ef\u4ee5\u6839\u636e\u8fd9\u4e2a\u5927\u7eb2\u5236\u4f5c\u89c6\u9891\u5185\u5bb9\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4ecb\u7ecd a. ROS\u7b80\u4ecb b. ROS\u7684\u5386\u53f2\u548c\u53d1\u5c55 c. ROS\u7684\u5e94\u7528\u9886\u57df d. \u6559\u7a0b\u76ee\u6807\u548c\u9884\u671f\u5b66\u4e60\u6210\u679c<\/li>\n\n\n\n<li>ROS\u5b89\u88c5\u548c\u914d\u7f6e a. \u652f\u6301\u7684\u64cd\u4f5c\u7cfb\u7edf b. \u5b89\u88c5\u6b65\u9aa4 c. \u73af\u5883\u53d8\u91cf\u914d\u7f6e d. \u6d4b\u8bd5ROS\u5b89\u88c5<\/li>\n\n\n\n<li>ROS\u57fa\u7840\u6982\u5ff5 a. \u8282\u70b9\uff08Nodes\uff09 b. \u4e3b\u9898\uff08Topics\uff09 c. \u670d\u52a1\uff08Services\uff09 d. \u6d88\u606f\uff08Messages\uff09 e. \u53c2\u6570\u670d\u52a1\u5668\uff08Parameter Server\uff09<\/li>\n\n\n\n<li>ROS\u547d\u4ee4\u884c\u5de5\u5177 a. roscore b. rosrun c. roslaunch d. rosnode e. rostopic f. rosservice g. rosparam h. rosbag<\/li>\n\n\n\n<li>ROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305 a. \u5de5\u4f5c\u7a7a\u95f4\u6982\u5ff5\u53ca\u521b\u5efa b. \u521b\u5efa\u548c\u7ba1\u7406ROS\u5305 c. \u7f16\u5199\u548c\u8fd0\u884cPython\u8282\u70b9 d. \u7f16\u5199\u548c\u8fd0\u884cC++\u8282\u70b9<\/li>\n\n\n\n<li>ROS\u6d88\u606f\u548c\u901a\u4fe1 a. \u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b b. \u53d1\u5e03\u548c\u8ba2\u9605\u4e3b\u9898 c. \u8bf7\u6c42\u548c\u54cd\u5e94\u670d\u52a1 d. \u5b9e\u73b0\u52a8\u6001\u53c2\u6570\u8c03\u6574<\/li>\n\n\n\n<li>ROS\u5b9e\u9645\u5e94\u7528\u6848\u4f8b a. \u673a\u5668\u4eba\u5efa\u6a21\u4e0e\u4eff\u771f b. \u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u4e0e\u878d\u5408 c. \u8def\u5f84\u89c4\u5212\u4e0e\u5bfc\u822a d. \u56fe\u50cf\u5904\u7406\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9<\/li>\n\n\n\n<li>ROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u7684\u96c6\u6210 a. Gazebo\u6a21\u62df\u5668 b. RViz\u53ef\u89c6\u5316\u5de5\u5177 c. MoveIt!\u8fd0\u52a8\u89c4\u5212\u5e93 d. OpenCV\u56fe\u50cf\u5904\u7406\u5e93<\/li>\n\n\n\n<li>ROS\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7 a. \u4ee3\u7801\u7ed3\u6784\u548c\u6a21\u5757\u5316 b. \u8282\u70b9\u95f4\u901a\u4fe1\u548c\u540c\u6b65 c. \u6027\u80fd\u8c03\u4f18\u548c\u5185\u5b58\u7ba1\u7406 d. \u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u5de5\u5177<\/li>\n\n\n\n<li>\u603b\u7ed3\u4e0e\u5c55\u671b a. \u56de\u987e\u8bfe\u7a0b\u5185\u5bb9 b. ROS\u7684\u672a\u6765\u53d1\u5c55\u8d8b\u52bf c. \u63a8\u8350\u7684\u8fdb\u9636\u5b66\u4e60\u8d44\u6e90 d. \u7ed3\u675f\u8bed<\/li>\n<\/ol>\n\n\n\n<p>\u5e0c\u671b\u8fd9\u4e2a\u6559\u7a0b\u5927\u7eb2\u5bf9\u60a8\u5236\u4f5cROS\u6559\u7a0b\u89c6\u9891\u6709\u6240\u5e2e\u52a9\u3002\u5982\u679c\u60a8\u6709\u5176\u4ed6\u9700\u6c42\uff0c\u8bf7\u968f\u65f6\u544a\u8bc9\u6211\uff01<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u7b80\u4ecb<\/p>\n\n\n\n<p>The previous model used in this conversation is unavailable. We&#8217;ve switched you to the latest default modelChatGPT<\/p>\n\n\n\n<p>ROS\uff08Robot Operating System\uff09\u662f\u4e00\u79cd\u6d41\u884c\u7684\u5f00\u6e90\u8f6f\u4ef6\u6846\u67b6\uff0c\u5b83\u4e3a\u673a\u5668\u4eba\u5f00\u53d1\u63d0\u4f9b\u4e86\u4e00\u79cd\u7075\u6d3b\u3001\u53ef\u91cd\u7528\u3001\u53ef\u6269\u5c55\u7684\u65b9\u6cd5\u3002ROS\u63d0\u4f9b\u4e86\u4e00\u7ec4\u5de5\u5177\u3001\u5e93\u548c\u7ea6\u5b9a\uff0c\u7528\u4e8e\u7f16\u5199\u8f6f\u4ef6\u4ee5\u63a7\u5236\u673a\u5668\u4eba\u7684\u5404\u4e2a\u65b9\u9762\uff0c\u5305\u62ec\u9a71\u52a8\u786c\u4ef6\u3001\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\u3001\u5b9e\u73b0\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\u3001\u6267\u884c\u4efb\u52a1\u7b49\u3002ROS\u8fd8\u63d0\u4f9b\u4e86\u4e00\u79cd\u5206\u5e03\u5f0f\u8ba1\u7b97\u7684\u65b9\u6cd5\uff0c\u53ef\u4ee5\u5c06\u673a\u5668\u4eba\u7684\u8ba1\u7b97\u4efb\u52a1\u5206\u914d\u5230\u591a\u4e2a\u8ba1\u7b97\u8282\u70b9\u4e0a\uff0c\u5b9e\u73b0\u66f4\u9ad8\u6548\u7684\u8ba1\u7b97\u548c\u66f4\u597d\u7684\u53ef\u6269\u5c55\u6027\u3002<\/p>\n\n\n\n<p>ROS\u6700\u521d\u7531Willow Garage\u5f00\u53d1\uff0c\u5e76\u57282010\u5e74\u9996\u6b21\u53d1\u5e03\u3002\u73b0\u5728ROS\u7531\u4e00\u4e2a\u7531\u4e2a\u4eba\u3001\u7814\u7a76\u673a\u6784\u548c\u516c\u53f8\u7ec4\u6210\u7684\u5e7f\u6cdb\u793e\u533a\u7ef4\u62a4\u548c\u53d1\u5c55\uff0c\u5176\u4e2d\u5305\u62ecROS\u6838\u5fc3\u56e2\u961f\u3001ROS\u5f00\u53d1\u8005\u3001ROS\u7528\u6237\u7b49\u3002ROS\u5177\u6709\u4ee5\u4e0b\u4f18\u70b9\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5f00\u6e90\uff1aROS\u662f\u4e00\u4e2a\u5f00\u6e90\u8f6f\u4ef6\u6846\u67b6\uff0c\u5141\u8bb8\u4efb\u4f55\u4eba\u4f7f\u7528\u3001\u4fee\u6539\u548c\u5206\u53d1\u5b83\u3002<\/li>\n\n\n\n<li>\u7075\u6d3b\u6027\uff1aROS\u53ef\u4ee5\u5728\u5404\u79cd\u786c\u4ef6\u5e73\u53f0\u548c\u64cd\u4f5c\u7cfb\u7edf\u4e0a\u8fd0\u884c\uff0c\u5141\u8bb8\u7528\u6237\u9009\u62e9\u6700\u9002\u5408\u5176\u5e94\u7528\u7a0b\u5e8f\u7684\u914d\u7f6e\u3002<\/li>\n\n\n\n<li>\u53ef\u91cd\u7528\u6027\uff1aROS\u63d0\u4f9b\u4e86\u5927\u91cf\u7684\u5e93\u548c\u5de5\u5177\uff0c\u53ef\u4f9b\u5f00\u53d1\u4eba\u5458\u8f7b\u677e\u6784\u5efa\u673a\u5668\u4eba\u5e94\u7528\u7a0b\u5e8f\u3002<\/li>\n\n\n\n<li>\u53ef\u6269\u5c55\u6027\uff1aROS\u652f\u6301\u5206\u5e03\u5f0f\u8ba1\u7b97\uff0c\u5141\u8bb8\u5f00\u53d1\u4eba\u5458\u5c06\u673a\u5668\u4eba\u7684\u8ba1\u7b97\u4efb\u52a1\u5206\u914d\u5230\u591a\u4e2a\u8ba1\u7b97\u8282\u70b9\u4e0a\u3002<\/li>\n\n\n\n<li>\u793e\u533a\u652f\u6301\uff1aROS\u62e5\u6709\u4e00\u4e2a\u5e9e\u5927\u7684\u793e\u533a\uff0c\u5305\u62ec\u5f00\u53d1\u4eba\u5458\u3001\u7528\u6237\u548c\u8d21\u732e\u8005\uff0c\u4ed6\u4eec\u4e3aROS\u63d0\u4f9b\u4e86\u652f\u6301\u3001\u5efa\u8bae\u548c\u65b0\u529f\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n<p>ROS\u5df2\u7ecf\u5728\u8bb8\u591a\u9886\u57df\u5f97\u5230\u4e86\u5e7f\u6cdb\u5e94\u7528\uff0c\u5305\u62ec\u5de5\u4e1a\u673a\u5668\u4eba\u3001\u670d\u52a1\u673a\u5668\u4eba\u3001\u79fb\u52a8\u673a\u5668\u4eba\u3001\u7a7a\u4e2d\u548c\u6c34\u4e0b\u673a\u5668\u4eba\u7b49\u3002\u65e0\u8bba\u60a8\u662f\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u3001\u7814\u7a76\u4eba\u5458\u8fd8\u662f\u5b66\u751f\uff0cROS\u90fd\u662f\u4e00\u4e2a\u975e\u5e38\u6709\u7528\u548c\u6709\u4ef7\u503c\u7684\u6846\u67b6\uff0c\u53ef\u4ee5\u5e2e\u52a9\u60a8\u5feb\u901f\u5f00\u53d1\u51fa\u9ad8\u8d28\u91cf\u3001\u9ad8\u6548\u7684\u673a\u5668\u4eba\u5e94\u7528\u7a0b\u5e8f\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u7684\u5386\u53f2\u548c\u53d1\u5c55ChatGPT<\/p>\n\n\n\n<p>ROS\uff08Robot Operating System\uff09\u7684\u5386\u53f2\u53ef\u4ee5\u8ffd\u6eaf\u52302006\u5e74\uff0c\u5f53\u65f6\u7f8e\u56fd\u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821\u7684\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\uff08Berkeley Robot Operating System\uff0cBROS\uff09\u5f00\u53d1\u4e86\u4e00\u79cd\u7528\u4e8e\u673a\u5668\u4eba\u8f6f\u4ef6\u5f00\u53d1\u7684\u57fa\u7840\u8bbe\u65bd\u3002\u8fd9\u4e2a\u9879\u76ee\u6700\u521d\u662f\u4e3a\u4e86\u89e3\u51b3\u673a\u5668\u4eba\u8f6f\u4ef6\u5f00\u53d1\u4e2d\u9047\u5230\u7684\u4e00\u4e9b\u56f0\u96be\uff0c\u4f8b\u5982\u590d\u6742\u6027\u3001\u53ef\u91cd\u7528\u6027\u548c\u53ef\u6269\u5c55\u6027\u7b49\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u5728BROS\u9879\u76ee\u4e4b\u540e\uff0cWillow Garage\u516c\u53f8\u4e8e2007\u5e74\u521b\u7acb\uff0c\u81f4\u529b\u4e8e\u53d1\u5c55\u673a\u5668\u4eba\u6280\u672f\u3002ROS\u662f\u7531Willow Garage\u516c\u53f8\u53d1\u8d77\u7684\u4e00\u4e2a\u5f00\u6e90\u8f6f\u4ef6\u9879\u76ee\uff0c\u4e8e2007\u5e74\u5f00\u59cb\u5f00\u53d1\u3002\u6700\u521d\uff0cROS\u662f\u4f5c\u4e3a\u4e00\u4e2a\u673a\u5668\u4eba\u8f6f\u4ef6\u5f00\u53d1\u5e73\u53f0\u7684\u7814\u7a76\u9879\u76ee\uff0c\u65e8\u5728\u4e3a\u673a\u5668\u4eba\u8f6f\u4ef6\u5f00\u53d1\u63d0\u4f9b\u4e00\u79cd\u7075\u6d3b\u3001\u53ef\u6269\u5c55\u7684\u65b9\u6cd5\uff0c\u5e76\u4e14\u80fd\u591f\u5728\u591a\u4e2a\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\uff0cROS\u7684\u793e\u533a\u548c\u751f\u6001\u7cfb\u7edf\u4e0d\u65ad\u58ee\u5927\u3002ROS\u793e\u533a\u5305\u62ec\u6765\u81ea\u5b66\u672f\u754c\u3001\u5de5\u4e1a\u754c\u548c\u5f00\u6e90\u793e\u533a\u7684\u5f00\u53d1\u4eba\u5458\u548c\u7528\u6237\u3002\u8fd9\u4e9b\u4eba\u4e0d\u65ad\u4e3aROS\u9879\u76ee\u8d21\u732e\u4ee3\u7801\u3001\u5de5\u5177\u548c\u6587\u6863\uff0c\u5e76\u7ec4\u7ec7ROSCon\u5927\u4f1a\u548cROS\u5de5\u4f5c\u574a\u7b49\u6d3b\u52a8\u6765\u4fc3\u8fdbROS\u7684\u53d1\u5c55\u3002<\/p>\n\n\n\n<p>\u73b0\u5728\uff0cROS\u5df2\u6210\u4e3a\u4e00\u4e2a\u5e7f\u6cdb\u5e94\u7528\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u7684\u8f6f\u4ef6\u6846\u67b6\uff0c\u5b83\u5728\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u53d1\u6325\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002ROS\u5df2\u7ecf\u6210\u4e3a\u4e00\u4e2a\u5e9e\u5927\u7684\u751f\u6001\u7cfb\u7edf\uff0c\u5305\u62ecROS\u6838\u5fc3\u5e93\u3001\u5de5\u5177\u548c\u5916\u90e8\u5e93\uff0c\u5982MoveIt\uff01\uff08\u8fd0\u52a8\u89c4\u5212\u5e93\uff09\u3001Gazebo\uff08\u4eff\u771f\u5668\uff09\u548cRViz\uff08\u53ef\u89c6\u5316\u5de5\u5177\uff09\u7b49\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0cROS\u8fd8\u4e0d\u65ad\u53d1\u5c55\uff0c\u4ee5\u6ee1\u8db3\u673a\u5668\u4eba\u6280\u672f\u4e0d\u65ad\u53d8\u5316\u7684\u9700\u6c42\u3002\u6700\u65b0\u7684ROS 2\u7248\u672c\uff0c\u652f\u6301\u66f4\u9ad8\u7684\u6027\u80fd\u3001\u66f4\u597d\u7684\u5b9e\u65f6\u6027\u3001\u66f4\u597d\u7684\u5b89\u5168\u6027\u548c\u66f4\u5e7f\u6cdb\u7684\u64cd\u4f5c\u7cfb\u7edf\u652f\u6301\uff0c\u8fd9\u4f7f\u5f97ROS\u5728\u66f4\u591a\u7684\u9886\u57df\u5f97\u5230\u4e86\u5e94\u7528\uff0c\u5982\u81ea\u52a8\u9a7e\u9a76\u3001\u65e0\u4eba\u673a\u548c\u5de5\u4e1a\u81ea\u52a8\u5316\u7b49\u3002ROS\u7684\u53d1\u5c55\u5bf9\u4e8e\u673a\u5668\u4eba\u884c\u4e1a\u7684\u53d1\u5c55\u548c\u5e94\u7528\u5177\u6709\u91cd\u8981\u7684\u63a8\u52a8\u4f5c\u7528\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u7684\u5e94\u7528\u9886\u57dfChatGPT<\/p>\n\n\n\n<p>ROS\uff08Robot Operating System\uff09\u662f\u4e00\u4e2a\u7528\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u7684\u5f00\u6e90\u8f6f\u4ef6\u6846\u67b6\uff0c\u53ef\u4ee5\u5e94\u7528\u4e8e\u5404\u79cd\u7c7b\u578b\u7684\u673a\u5668\u4eba\u548c\u673a\u5668\u4eba\u7cfb\u7edf\u3002\u4e0b\u9762\u662fROS\u5728\u51e0\u4e2a\u5e38\u89c1\u5e94\u7528\u9886\u57df\u4e2d\u7684\u5e94\u7528\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5de5\u4e1a\u673a\u5668\u4eba\uff1aROS\u53ef\u4ee5\u7528\u4e8e\u5f00\u53d1\u548c\u63a7\u5236\u5404\u79cd\u7c7b\u578b\u7684\u5de5\u4e1a\u673a\u5668\u4eba\uff0c\u5305\u62ec\u81c2\u5f0f\u673a\u5668\u4eba\u3001\u6ed1\u52a8\u5f0f\u673a\u5668\u4eba\u548c\u534f\u4f5c\u5f0f\u673a\u5668\u4eba\u7b49\u3002ROS\u53ef\u7528\u4e8e\u5bf9\u673a\u5668\u4eba\u8fdb\u884c\u5efa\u6a21\u3001\u4eff\u771f\u3001\u63a7\u5236\u548c\u76d1\u63a7\u3002<\/li>\n\n\n\n<li>\u670d\u52a1\u673a\u5668\u4eba\uff1aROS\u53ef\u4ee5\u7528\u4e8e\u5f00\u53d1\u548c\u63a7\u5236\u670d\u52a1\u673a\u5668\u4eba\uff0c\u5982\u667a\u80fd\u5bb6\u5c45\u673a\u5668\u4eba\u3001\u5ba2\u670d\u673a\u5668\u4eba\u3001\u62a4\u7406\u673a\u5668\u4eba\u7b49\u3002ROS\u63d0\u4f9b\u4e86\u4e00\u79cd\u5f00\u53d1\u670d\u52a1\u673a\u5668\u4eba\u5e94\u7528\u7a0b\u5e8f\u7684\u7075\u6d3b\u65b9\u6cd5\uff0c\u53ef\u4ee5\u5904\u7406\u8bed\u97f3\u8bc6\u522b\u3001\u81ea\u7136\u8bed\u8a00\u5904\u7406\u3001\u4eba\u8138\u8bc6\u522b\u3001\u60c5\u611f\u8bc6\u522b\u7b49\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u79fb\u52a8\u673a\u5668\u4eba\uff1aROS\u53ef\u7528\u4e8e\u5f00\u53d1\u548c\u63a7\u5236\u5404\u79cd\u7c7b\u578b\u7684\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u5982AGV\uff08\u81ea\u52a8\u5bfc\u822a\u8f66\uff09\u3001\u65e0\u4eba\u9a7e\u9a76\u8f66\u8f86\u548c\u65e0\u4eba\u673a\u7b49\u3002ROS\u63d0\u4f9b\u4e86\u7528\u4e8e\u5bfc\u822a\u3001\u907f\u969c\u548c\u8def\u5f84\u89c4\u5212\u7684\u5e93\u548c\u5de5\u5177\u3002<\/li>\n\n\n\n<li>\u6559\u80b2\u548c\u7814\u7a76\uff1aROS\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u6559\u80b2\u548c\u7814\u7a76\u9886\u57df\uff0c\u7528\u4e8e\u673a\u5668\u4eba\u5b66\u3001\u63a7\u5236\u7406\u8bba\u3001\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u673a\u5668\u5b66\u4e60\u7b49\u3002ROS\u63d0\u4f9b\u4e86\u4e00\u79cd\u6613\u4e8e\u4f7f\u7528\u7684\u673a\u5668\u4eba\u5f00\u53d1\u5e73\u53f0\uff0c\u53ef\u4ee5\u5e2e\u52a9\u5b66\u751f\u548c\u7814\u7a76\u4eba\u5458\u66f4\u5feb\u5730\u638c\u63e1\u673a\u5668\u4eba\u6280\u672f\u3002<\/li>\n\n\n\n<li>\u533b\u7597\u673a\u5668\u4eba\uff1aROS\u53ef\u4ee5\u7528\u4e8e\u5f00\u53d1\u548c\u63a7\u5236\u5404\u79cd\u7c7b\u578b\u7684\u533b\u7597\u673a\u5668\u4eba\uff0c\u5982\u5916\u79d1\u624b\u672f\u673a\u5668\u4eba\u3001\u5eb7\u590d\u673a\u5668\u4eba\u548c\u65e0\u521b\u533b\u7597\u673a\u5668\u4eba\u7b49\u3002ROS\u63d0\u4f9b\u4e86\u4e00\u79cd\u7528\u4e8e\u4f20\u611f\u5668\u548c\u6267\u884c\u5668\u7684\u6807\u51c6\u63a5\u53e3\uff0c\u53ef\u4ee5\u4fc3\u8fdb\u533b\u7597\u673a\u5668\u4eba\u7684\u5f00\u53d1\u548c\u96c6\u6210\u3002<\/li>\n\n\n\n<li>\u519c\u4e1a\u673a\u5668\u4eba\uff1aROS\u53ef\u7528\u4e8e\u5f00\u53d1\u548c\u63a7\u5236\u5404\u79cd\u7c7b\u578b\u7684\u519c\u4e1a\u673a\u5668\u4eba\uff0c\u5982\u81ea\u52a8\u5316\u55b7\u96fe\u673a\u3001\u91c7\u6458\u673a\u5668\u4eba\u548c\u519c\u7530\u76d1\u6d4b\u673a\u5668\u4eba\u7b49\u3002ROS\u63d0\u4f9b\u4e86\u4e00\u79cd\u7528\u4e8e\u56fe\u50cf\u5904\u7406\u3001\u6570\u636e\u6536\u96c6\u548c\u81ea\u52a8\u5316\u7684\u65b9\u6cd5\uff0c\u53ef\u4ee5\u5e2e\u52a9\u519c\u4e1a\u751f\u4ea7\u53d8\u5f97\u66f4\u52a0\u9ad8\u6548\u548c\u53ef\u6301\u7eed\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0cROS\u5728\u673a\u5668\u4eba\u9886\u57df\u7684\u5e94\u7528\u975e\u5e38\u5e7f\u6cdb\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u5e94\u7528\u4e8e\u5de5\u4e1a\u3001\u670d\u52a1\u3001\u79fb\u52a8\u3001\u533b\u7597\u3001\u519c\u4e1a\u7b49\u9886\u57df\uff0c\u8fd8\u53ef\u4ee5\u7528\u4e8e\u5f00\u53d1\u5404\u79cd\u7c7b\u578b\u7684\u673a\u5668\u4eba\uff0c\u5982\u673a\u5668\u4eba\u624b\u81c2\u3001\u673a\u5668\u4eba\u817f\u3001\u673a\u5668\u4eba\u5934\u7b49\u3002\u968f\u7740ROS\u7684\u4e0d\u65ad\u53d1\u5c55\u548c\u5b8c\u5584\uff0c\u76f8\u4fe1ROS\u5728\u66f4\u591a\u9886\u57df\u4f1a\u6709\u66f4\u5e7f\u6cdb<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91ca\u6559\u7a0b\u76ee\u6807\u548c\u9884\u671f\u5b66\u4e60\u6210\u679cChatGPT<\/p>\n\n\n\n<p>\u6559\u7a0b\u76ee\u6807\u662f\u6307\u8bfe\u7a0b\u8bbe\u8ba1\u8005\u6240\u5236\u5b9a\u7684\u6559\u5b66\u76ee\u6807\uff0c\u5305\u62ec\u6559\u5b66\u5185\u5bb9\u3001\u6559\u5b66\u65b9\u6cd5\u3001\u6559\u5b66\u8fc7\u7a0b\u548c\u6559\u5b66\u6210\u679c\u7b49\u65b9\u9762\u7684\u89c4\u5212\u3002\u9884\u671f\u5b66\u4e60\u6210\u679c\u662f\u6307\u5b66\u751f\u5728\u5b66\u5b8c\u8bfe\u7a0b\u540e\u6240\u9884\u671f\u8fbe\u5230\u7684\u5b66\u4e60\u76ee\u6807\uff0c\u5305\u62ec\u77e5\u8bc6\u3001\u6280\u80fd\u3001\u6001\u5ea6\u548c\u4ef7\u503c\u89c2\u7b49\u65b9\u9762\u7684\u8981\u6c42\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8eROS\u6559\u7a0b\u800c\u8a00\uff0c\u6559\u7a0b\u76ee\u6807\u548c\u9884\u671f\u5b66\u4e60\u6210\u679c\u5e94\u8be5\u5305\u62ec\u4ee5\u4e0b\u65b9\u9762\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4e86\u89e3ROS\u7684\u57fa\u672c\u6982\u5ff5\u548c\u4f53\u7cfb\u7ed3\u6784\uff0c\u5305\u62ec\u8282\u70b9\u3001\u4e3b\u9898\u3001\u670d\u52a1\u3001\u6d88\u606f\u548c\u53c2\u6570\u670d\u52a1\u5668\u7b49\u3002<\/li>\n\n\n\n<li>\u638c\u63e1ROS\u7684\u5b89\u88c5\u548c\u914d\u7f6e\u65b9\u6cd5\uff0c\u80fd\u591f\u5728\u672c\u5730\u8ba1\u7b97\u673a\u4e0a\u642d\u5efaROS\u5f00\u53d1\u73af\u5883\uff0c\u5e76\u8fdb\u884c\u6d4b\u8bd5\u548c\u8c03\u8bd5\u3002<\/li>\n\n\n\n<li>\u638c\u63e1ROS\u547d\u4ee4\u884c\u5de5\u5177\u7684\u4f7f\u7528\u65b9\u6cd5\uff0c\u5305\u62ecroscore\u3001rosrun\u3001roslaunch\u3001rosnode\u3001rostopic\u3001rosservice\u3001rosparam\u548crosbag\u7b49\u3002<\/li>\n\n\n\n<li>\u638c\u63e1ROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u7684\u6982\u5ff5\uff0c\u5305\u62ec\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4\u3001\u521b\u5efa\u548c\u7ba1\u7406ROS\u5305\u3001\u7f16\u5199\u548c\u8fd0\u884cPython\u8282\u70b9\u548cC++\u8282\u70b9\u7b49\u3002<\/li>\n\n\n\n<li>\u638c\u63e1ROS\u6d88\u606f\u548c\u901a\u4fe1\u7684\u65b9\u6cd5\uff0c\u5305\u62ec\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u3001\u53d1\u5e03\u548c\u8ba2\u9605\u4e3b\u9898\u3001\u8bf7\u6c42\u548c\u54cd\u5e94\u670d\u52a1\u3001\u5b9e\u73b0\u52a8\u6001\u53c2\u6570\u8c03\u6574\u7b49\u3002<\/li>\n\n\n\n<li>\u638c\u63e1ROS\u7684\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\uff0c\u5305\u62ec\u673a\u5668\u4eba\u5efa\u6a21\u4e0e\u4eff\u771f\u3001\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u4e0e\u878d\u5408\u3001\u8def\u5f84\u89c4\u5212\u4e0e\u5bfc\u822a\u3001\u56fe\u50cf\u5904\u7406\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9\u7b49\u3002<\/li>\n\n\n\n<li>\u4e86\u89e3ROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u7684\u96c6\u6210\u65b9\u6cd5\uff0c\u5305\u62ecGazebo\u6a21\u62df\u5668\u3001RViz\u53ef\u89c6\u5316\u5de5\u5177\u3001MoveIt\uff01\u8fd0\u52a8\u89c4\u5212\u5e93\u548cOpenCV\u56fe\u50cf\u5904\u7406\u5e93\u7b49\u3002<\/li>\n\n\n\n<li>\u638c\u63e1ROS\u7684\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff0c\u5305\u62ec\u4ee3\u7801\u7ed3\u6784\u548c\u6a21\u5757\u5316\u3001\u8282\u70b9\u95f4\u901a\u4fe1\u548c\u540c\u6b65\u3001\u6027\u80fd\u8c03\u4f18\u548c\u5185\u5b58\u7ba1\u7406\u3001\u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u5de5\u5177\u7b49\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u9884\u671f\u5b66\u4e60\u6210\u679c\u5e94\u8be5\u5305\u62ec\u4ee5\u4e0b\u65b9\u9762\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u80fd\u591f\u4f7f\u7528ROS\u5f00\u53d1\u548c\u63a7\u5236\u5404\u79cd\u7c7b\u578b\u7684\u673a\u5668\u4eba\u548c\u673a\u5668\u4eba\u7cfb\u7edf\u3002<\/li>\n\n\n\n<li>\u80fd\u591f\u719f\u7ec3\u4f7f\u7528ROS\u547d\u4ee4\u884c\u5de5\u5177\uff0c\u8fdb\u884cROS\u7a0b\u5e8f\u7684\u7f16\u8bd1\u3001\u8fd0\u884c\u548c\u8c03\u8bd5\u3002<\/li>\n\n\n\n<li>\u80fd\u591f\u5f00\u53d1\u548c\u53d1\u5e03ROS\u4e3b\u9898\u548c\u670d\u52a1\uff0c\u5e76\u80fd\u591f\u5904\u7406ROS\u6d88\u606f\u548c\u901a\u4fe1\u3002<\/li>\n\n\n\n<li>\u80fd\u591f\u5e94\u7528ROS\u8fdb\u884c\u673a\u5668\u4eba\u5efa\u6a21\u4e0e\u4eff\u771f\u3001\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u4e0e\u878d\u5408\u3001\u8def\u5f84\u89c4\u5212\u4e0e\u5bfc\u822a\u3001\u56fe\u50cf\u5904\u7406\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9\u7b49\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u80fd\u591f\u4f7f\u7528ROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u96c6\u6210\uff0c\u5982Gazebo\u6a21\u62df\u5668\u3001RViz\u53ef\u89c6\u5316\u5de5\u5177\u3001MoveIt\uff01\u8fd0\u52a8\u89c4\u5212\u5e93\u548cOpenCV\u56fe\u50cf\u5904\u7406\u5e93\u7b49\u3002<\/li>\n\n\n\n<li>\u80fd\u591f\u4f7f\u7528ROS\u7684\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff0c\u5305\u62ec\u4ee3\u7801\u7ed3<\/li>\n<\/ol>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u652f\u6301\u7684\u64cd\u4f5c\u7cfb\u7edfChatGPT<\/p>\n\n\n\n<p>ROS\uff08Robot Operating System\uff09\u652f\u6301\u591a\u79cd\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5305\u62ec\u4ee5\u4e0b\u4e3b\u8981\u64cd\u4f5c\u7cfb\u7edf\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Ubuntu\uff1aROS\u6700\u5e38\u7528\u7684\u64cd\u4f5c\u7cfb\u7edf\u662fUbuntu\uff0c\u5b83\u662fROS\u5b98\u65b9\u63a8\u8350\u7684\u64cd\u4f5c\u7cfb\u7edf\u3002ROS\u5728Ubuntu\u4e0a\u7684\u652f\u6301\u975e\u5e38\u597d\uff0c\u5305\u62ecROS\u7684\u5b89\u88c5\u3001\u914d\u7f6e\u3001\u4f7f\u7528\u548c\u5f00\u53d1\u90fd\u975e\u5e38\u65b9\u4fbf\u3002<\/li>\n\n\n\n<li>Debian\uff1aROS\u4e5f\u652f\u6301Debian\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5b83\u548cUbuntu\u662f\u76f8\u4f3c\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u56e0\u6b64ROS\u5728Debian\u4e0a\u7684\u652f\u6301\u548c\u5728Ubuntu\u4e0a\u7c7b\u4f3c\u3002<\/li>\n\n\n\n<li>Fedora\uff1aROS\u4e5f\u652f\u6301Fedora\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5b83\u662f\u4e00\u79cd\u57fa\u4e8eRed Hat Linux\u7684\u64cd\u4f5c\u7cfb\u7edf\u3002ROS\u5728Fedora\u4e0a\u7684\u652f\u6301\u8f83\u597d\uff0c\u4f46\u5e76\u4e0d\u5982\u5728Ubuntu\u4e0a\u90a3\u6837\u5e7f\u6cdb\u3002<\/li>\n\n\n\n<li>macOS\uff1aROS\u4e5f\u652f\u6301macOS\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5b83\u662f\u82f9\u679c\u516c\u53f8\u7684\u64cd\u4f5c\u7cfb\u7edf\u3002ROS\u5728macOS\u4e0a\u7684\u652f\u6301\u8f83\u597d\uff0c\u4f46\u53ef\u80fd\u9700\u8981\u8fdb\u884c\u989d\u5916\u7684\u914d\u7f6e\u548c\u7f16\u8bd1\u3002<\/li>\n\n\n\n<li>Windows\uff1aROS\u6700\u8fd1\u4e5f\u5f00\u59cb\u652f\u6301Windows\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5b83\u9700\u8981\u5728Windows\u4e0a\u5b89\u88c5Linux\u5b50\u7cfb\u7edf\uff08Windows Subsystem for Linux\uff0cWSL\uff09\u6216\u4f7f\u7528\u865a\u62df\u673a\u6765\u8fd0\u884cROS\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u9664\u4e86\u4ee5\u4e0a\u64cd\u4f5c\u7cfb\u7edf\uff0cROS\u4e5f\u652f\u6301\u5176\u4ed6\u4e00\u4e9b\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5982OpenEmbedded\u3001Arch Linux\u3001Gentoo\u7b49\uff0c\u4f46\u5728\u8fd9\u4e9b\u64cd\u4f5c\u7cfb\u7edf\u4e0a\u4f7f\u7528ROS\u7684\u4eba\u6570\u8f83\u5c11\uff0c\u76f8\u5bf9\u4e0d\u592a\u6d41\u884c\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0cROS\u5728\u4e0d\u540c\u64cd\u4f5c\u7cfb\u7edf\u4e0a\u7684\u652f\u6301\u548c\u4f7f\u7528\u65b9\u6cd5\u53ef\u80fd\u4f1a\u6709\u6240\u4e0d\u540c\uff0c\u56e0\u6b64\u5728\u9009\u62e9\u64cd\u4f5c\u7cfb\u7edf\u548c\u4f7f\u7528ROS\u65f6\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u548c\u4e86\u89e3\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5b89\u88c5\u6b65\u9aa4ChatGPT<\/p>\n\n\n\n<p>ROS\uff08Robot Operating System\uff09\u7684\u5b89\u88c5\u8fc7\u7a0b\u76f8\u5bf9\u8f83\u4e3a\u590d\u6742\uff0c\u9700\u8981\u8fdb\u884c\u591a\u4e2a\u6b65\u9aa4\u3002\u4e0b\u9762\u662fROS\u5728Ubuntu\u64cd\u4f5c\u7cfb\u7edf\u4e0a\u7684\u5b89\u88c5\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u914d\u7f6eUbuntu\u6e90\uff1a\u6253\u5f00\u7ec8\u7aef\uff08Terminal\uff09\u5e76\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u66f4\u65b0Ubuntu\u8f6f\u4ef6\u5305\u6e90\u548c\u5bc6\u94a5\uff1abashCopy code<code>sudo apt update sudo apt install curl gnupg2 lsb-release curl -s https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.asc | sudo apt-key add - echo \"deb http:\/\/packages.ros.org\/ros\/ubuntu $(lsb_release -sc) main\" | sudo tee \/etc\/apt\/sources.list.d\/ros-latest.list<\/code><\/li>\n\n\n\n<li>\u5b89\u88c5ROS\uff1a\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u5b89\u88c5ROS\uff1asqlCopy code<code>sudo apt update sudo apt install ros-melodic-desktop-full <\/code>\u5176\u4e2d\uff0c<code>melodic<\/code>\u662fROS\u7684\u53d1\u884c\u7248\u672c\uff0c\u53ef\u4ee5\u6839\u636e\u9700\u8981\u8fdb\u884c\u66f4\u6539\u3002\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u53ef\u4ee5\u901a\u8fc7\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u68c0\u67e5ROS\u7684\u7248\u672c\uff1aCopy code<code>rosversion -d<\/code><\/li>\n\n\n\n<li>\u914d\u7f6eROS\u73af\u5883\uff1aROS\u5b89\u88c5\u540e\uff0c\u9700\u8981\u914d\u7f6eROS\u73af\u5883\u53d8\u91cf\u3002\u53ef\u4ee5\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u5c06ROS\u73af\u5883\u53d8\u91cf\u6dfb\u52a0\u5230<code>.bashrc<\/code>\u6587\u4ef6\u4e2d\uff1abashCopy code<code>echo \"source \/opt\/ros\/melodic\/setup.bash\" &gt;&gt; ~\/.bashrc source ~\/.bashrc<\/code><\/li>\n\n\n\n<li>\u5b89\u88c5\u4f9d\u8d56\u9879\uff1a\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u5b89\u88c5ROS\u7684\u4f9d\u8d56\u9879\u548c\u5e38\u7528\u5de5\u5177\uff1aCopy code<code>sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential sudo apt install ros-melodic-rviz ros-melodic-ros-tutorials<\/code><\/li>\n\n\n\n<li>\u521d\u59cb\u5316rosdep\uff1a\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u521d\u59cb\u5316rosdep\uff1acsharpCopy code<code>sudo rosdep init rosdep update<\/code><\/li>\n\n\n\n<li>\u6d4b\u8bd5ROS\uff1a\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u542f\u52a8ROS\uff1aCopy code<code>roscore <\/code>\u7136\u540e\uff0c\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u4e2d\uff0c\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u67e5\u770bROS\u7684\u4fe1\u606f\uff1aCopy code<code>rosnode list rostopic list<\/code><\/li>\n<\/ol>\n\n\n\n<p>\u81f3\u6b64\uff0cROS\u7684\u5b89\u88c5\u548c\u914d\u7f6e\u5b8c\u6210\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0cROS\u7684\u5b89\u88c5\u6b65\u9aa4\u53ef\u80fd\u4f1a\u56e0ROS\u7684\u53d1\u884c\u7248\u672c\u3001\u64cd\u4f5c\u7cfb\u7edf\u7248\u672c\u548c\u8ba1\u7b97\u673a\u786c\u4ef6\u914d\u7f6e\u7b49\u56e0\u7d20\u800c\u6709\u6240\u4e0d\u540c\uff0c\u56e0\u6b64\u5728\u5b89\u88c5\u8fc7\u7a0b\u4e2d\u9700\u8981\u4ed4\u7ec6\u67e5\u770bROS\u5b98\u65b9\u6587\u6863\u548c\u5b89\u88c5\u6307\u5357\uff0c\u5e76\u6839\u636e\u5177\u4f53\u60c5\u51b5\u8fdb\u884c\u8c03\u6574\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u73af\u5883\u53d8\u91cf\u914d\u7f6eChatGPT<\/p>\n\n\n\n<p>ROS\uff08Robot Operating System\uff09\u662f\u4e00\u4e2a\u57fa\u4e8eLinux\u7684\u8f6f\u4ef6\u6846\u67b6\uff0c\u5b83\u4f7f\u7528\u73af\u5883\u53d8\u91cf\u6765\u786e\u5b9aROS\u8fd0\u884c\u6240\u9700\u7684\u7cfb\u7edf\u8bbe\u7f6e\u548c\u8def\u5f84\u3002ROS\u73af\u5883\u53d8\u91cf\u7684\u914d\u7f6e\u662fROS\u5b89\u88c5\u540e\u7684\u5fc5\u8981\u6b65\u9aa4\u4e4b\u4e00\uff0c\u4e0b\u9762\u662fROS\u73af\u5883\u53d8\u91cf\u7684\u914d\u7f6e\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6253\u5f00\u7ec8\u7aef\uff08Terminal\uff09\uff1a\u6253\u5f00\u7ec8\u7aef\uff08Terminal\uff09\uff0c\u53ef\u4ee5\u901a\u8fc7\u5feb\u6377\u952e<code>Ctrl+Alt+T<\/code>\u6253\u5f00\u7ec8\u7aef\u7a97\u53e3\u3002<\/li>\n\n\n\n<li>\u6253\u5f00<code>.bashrc<\/code>\u6587\u4ef6\uff1a\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u7f16\u8f91<code>.bashrc<\/code>\u6587\u4ef6\uff1abashCopy code<code>gedit ~\/.bashrc <\/code>\u6216\u8005\uff0c\u53ef\u4ee5\u901a\u8fc7\u547d\u4ee4\u884c\u7f16\u8f91\u5668\uff08\u5982nano\u6216vim\uff09\u6253\u5f00<code>.bashrc<\/code>\u6587\u4ef6\u3002<\/li>\n\n\n\n<li>\u6dfb\u52a0ROS\u73af\u5883\u53d8\u91cf\uff1a\u5728<code>.bashrc<\/code>\u6587\u4ef6\u7684\u672b\u5c3e\u6dfb\u52a0\u4ee5\u4e0b\u884c\uff0c\u4ee5\u8bbe\u7f6eROS\u73af\u5883\u53d8\u91cf\uff1abashCopy code<code>source \/opt\/ros\/&lt;distro&gt;\/setup.bash export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:\/path\/to\/your\/ros\/workspace <\/code>\u5176\u4e2d\uff0c<code>&lt;distro&gt;<\/code>\u662fROS\u7684\u53d1\u884c\u7248\u672c\uff08\u5982<code>melodic<\/code>\uff09\uff0c<code>\/path\/to\/your\/ros\/workspace<\/code>\u662fROS\u7684\u5de5\u4f5c\u7a7a\u95f4\u8def\u5f84\u3002\u5982\u679c\u60a8\u8fd8\u6ca1\u6709\u521b\u5efaROS\u5de5\u4f5c\u7a7a\u95f4\uff0c\u5219\u53ef\u4ee5\u5148\u521b\u5efa\u4e00\u4e2a\u3002<\/li>\n\n\n\n<li>\u4fdd\u5b58\u6587\u4ef6\uff1a\u4fdd\u5b58<code>.bashrc<\/code>\u6587\u4ef6\u5e76\u5173\u95ed\u7f16\u8f91\u5668\u3002<\/li>\n\n\n\n<li>\u66f4\u65b0\u73af\u5883\u53d8\u91cf\uff1a\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u66f4\u65b0ROS\u73af\u5883\u53d8\u91cf\uff1abashCopy code<code>source ~\/.bashrc <\/code>\u8fd9\u5c06\u4f7f<code>.bashrc<\/code>\u6587\u4ef6\u4e2d\u7684\u53d8\u91cf\u5bf9\u5f53\u524d\u7ec8\u7aef\u548c\u6240\u6709\u65b0\u7ec8\u7aef\u53ef\u7528\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u73b0\u5728\uff0c\u60a8\u5df2\u7ecf\u6210\u529f\u914d\u7f6e\u4e86ROS\u73af\u5883\u53d8\u91cf\u3002\u8fd9\u4e9b\u53d8\u91cf\u5c06\u5141\u8bb8\u60a8\u4f7f\u7528ROS\u547d\u4ee4\u884c\u5de5\u5177\u548cROS\u7a0b\u5e8f\u5305\uff0c\u4ee5\u53ca\u5728ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u521b\u5efa\u548c\u8fd0\u884cROS\u8282\u70b9\u3002\u5982\u679c\u60a8\u5728\u4f7f\u7528ROS\u65f6\u9047\u5230\u95ee\u9898\uff0c\u8bf7\u786e\u4fdd\u5df2\u6b63\u786e\u914d\u7f6eROS\u73af\u5883\u53d8\u91cf\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91ca\u6d4b\u8bd5ROS\u5b89\u88c5ChatGPT<\/p>\n\n\n\n<p>\u6d4b\u8bd5ROS\u5b89\u88c5\u662f\u5728\u5b89\u88c5ROS\u540e\u7684\u5fc5\u8981\u6b65\u9aa4\uff0c\u4ee5\u786e\u4fddROS\u6b63\u786e\u5b89\u88c5\u5e76\u80fd\u591f\u6b63\u5e38\u8fd0\u884c\u3002\u4e0b\u9762\u662f\u6d4b\u8bd5ROS\u5b89\u88c5\u7684\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6253\u5f00\u7ec8\u7aef\uff1a\u6253\u5f00\u7ec8\u7aef\uff08Terminal\uff09\u7a97\u53e3\uff0c\u53ef\u4ee5\u901a\u8fc7\u5feb\u6377\u952e<code>Ctrl+Alt+T<\/code>\u6253\u5f00\u7ec8\u7aef\u7a97\u53e3\u3002<\/li>\n\n\n\n<li>\u8fd0\u884croscore\u547d\u4ee4\uff1a\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u542f\u52a8ROS\u6838\u5fc3\u670d\u52a1\uff1aCopy code<code>roscore <\/code>\u8fd9\u5c06\u542f\u52a8ROS\u7684\u6838\u5fc3\u670d\u52a1\uff0c\u5305\u62ecROS\u53c2\u6570\u670d\u52a1\u5668\u548cROS\u4e3b\u8282\u70b9\u3002<\/li>\n\n\n\n<li>\u8fd0\u884crosnode list\u547d\u4ee4\uff1a\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u7a97\u53e3\u4e2d\uff0c\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u67e5\u770b\u5f53\u524d\u8fd0\u884c\u7684ROS\u8282\u70b9\u5217\u8868\uff1aCopy code<code>rosnode list <\/code>\u5982\u679cROS\u5b89\u88c5\u6b63\u786e\uff0c\u60a8\u5e94\u8be5\u4f1a\u770b\u5230\u4e00\u4e9bROS\u6838\u5fc3\u8282\u70b9\u7684\u540d\u79f0\uff0c\u5982<code>\/rosout<\/code>\u3002<\/li>\n\n\n\n<li>\u8fd0\u884crostopic list\u547d\u4ee4\uff1a\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u7a97\u53e3\u4e2d\uff0c\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u67e5\u770b\u5f53\u524dROS\u7684\u4e3b\u9898\u5217\u8868\uff1aCopy code<code>rostopic list <\/code>\u5982\u679cROS\u5b89\u88c5\u6b63\u786e\uff0c\u60a8\u5e94\u8be5\u4f1a\u770b\u5230\u4e00\u4e9bROS\u6838\u5fc3\u4e3b\u9898\u7684\u540d\u79f0\uff0c\u5982<code>\/rosout<\/code>\u3002<\/li>\n\n\n\n<li>\u8fd0\u884crostopic echo\u547d\u4ee4\uff1a\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u7a97\u53e3\u4e2d\uff0c\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\uff0c\u4ee5\u67e5\u770b\u67d0\u4e2aROS\u4e3b\u9898\u7684\u6d88\u606f\uff1abashCopy code<code>rostopic echo \/rosout <\/code>\u8fd9\u5c06\u663e\u793aROS\u4e3b\u9898<code>\/rosout<\/code>\u7684\u6d88\u606f\u3002\u6309\u4e0b<code>Ctrl+C<\/code>\u952e\u53ef\u505c\u6b62\u6d88\u606f\u663e\u793a\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u5982\u679c\u6240\u6709\u547d\u4ee4\u90fd\u80fd\u591f\u6b63\u5e38\u6267\u884c\u5e76\u8f93\u51fa\u9884\u671f\u7684\u7ed3\u679c\uff0c\u5219\u8868\u660eROS\u5df2\u7ecf\u6210\u529f\u5b89\u88c5\u5e76\u8fd0\u884c\u3002\u5982\u679c\u5728\u6267\u884c\u4efb\u4f55\u547d\u4ee4\u65f6\u9047\u5230\u95ee\u9898\uff0c\u5219\u53ef\u80fd\u662fROS\u5b89\u88c5\u8fc7\u7a0b\u4e2d\u7684\u67d0\u4e9b\u9519\u8bef\uff0c\u9700\u8981\u68c0\u67e5ROS\u7684\u5b89\u88c5\u548c\u914d\u7f6e\u3002\u5982\u679c\u60a8\u4ecd\u7136\u65e0\u6cd5\u89e3\u51b3\u95ee\u9898\uff0c\u8bf7\u53c2\u9605ROS\u5b98\u65b9\u6587\u6863\u548cROS\u8bba\u575b\u4e2d\u7684\u5e2e\u52a9\u8d44\u6e90\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u57fa\u7840\u6982\u5ff5\u8282\u70b9\uff08Nodes\uff09ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u8282\u70b9\uff08Nodes\uff09\u662f\u6307\u4e00\u4e2a\u8fd0\u884c\u5728ROS\u7cfb\u7edf\u4e2d\u7684\u72ec\u7acb\u8fdb\u7a0b\uff0c\u5b83\u80fd\u591f\u63a5\u6536\u548c\u53d1\u5e03\u6d88\u606f\uff08Messages\uff09\u548c\u670d\u52a1\uff08Services\uff09\u3002\u8282\u70b9\u662fROS\u7684\u57fa\u7840\u6982\u5ff5\u4e4b\u4e00\uff0c\u5b83\u4f7f\u5f97ROS\u7684\u5206\u5e03\u5f0f\u901a\u4fe1\u6210\u4e3a\u53ef\u80fd\uff0c\u5e76\u4e14\u53ef\u4ee5\u652f\u6301\u591a\u4e2a\u8282\u70b9\u4e4b\u95f4\u7684\u534f\u4f5c\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p>\u8282\u70b9\u662fROS\u5206\u5e03\u5f0f\u8ba1\u7b97\u7684\u57fa\u7840\u5355\u5143\uff0c\u5b83\u53ef\u4ee5\u5728ROS\u7cfb\u7edf\u4e2d\u8fd0\u884c\uff0c\u7528\u4e8e\u6267\u884c\u5404\u79cd\u4efb\u52a1\u3002\u8282\u70b9\u901a\u5e38\u662fROS\u7a0b\u5e8f\u7684\u6700\u5c0f\u5355\u5143\uff0c\u5b83\u53ef\u4ee5\u4e0e\u5176\u4ed6\u8282\u70b9\u8fdb\u884c\u901a\u4fe1\uff0c\u5e76\u53ef\u4ee5\u53d1\u5e03\u6216\u8ba2\u9605\u7279\u5b9a\u7c7b\u578b\u7684\u6d88\u606f\u6216\u670d\u52a1\u3002<\/p>\n\n\n\n<p>\u6bcf\u4e2a\u8282\u70b9\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684\u540d\u79f0\uff0c\u53ef\u4ee5\u901a\u8fc7\u8be5\u540d\u79f0\u5728ROS\u7cfb\u7edf\u4e2d\u8fdb\u884c\u6807\u8bc6\u548c\u901a\u4fe1\u3002\u8282\u70b9\u53ef\u4ee5\u901a\u8fc7ROS\u547d\u4ee4\u884c\u5de5\u5177\u542f\u52a8\uff0c\u4e5f\u53ef\u4ee5\u901a\u8fc7ROS\u7a0b\u5e8f\u542f\u52a8\u3002<\/p>\n\n\n\n<p>\u5728ROS\u7cfb\u7edf\u4e2d\uff0c\u8282\u70b9\u53ef\u4ee5\u4f7f\u7528ROS\u7684\u6d88\u606f\u4f20\u8f93\u673a\u5236\uff08Publisher\/Subscriber\uff09\u8fdb\u884c\u901a\u4fe1\uff0c\u53d1\u5e03\u8005\uff08Publisher\uff09\u53ef\u4ee5\u5c06\u7279\u5b9a\u7c7b\u578b\u7684\u6d88\u606f\u53d1\u5e03\u5230\u4e00\u4e2a\u7279\u5b9a\u7684\u4e3b\u9898\uff08Topic\uff09\u4e0a\uff0c\u800c\u8ba2\u9605\u8005\uff08Subscriber\uff09\u5219\u53ef\u4ee5\u4ece\u76f8\u5e94\u7684\u4e3b\u9898\u4e0a\u8ba2\u9605\u7279\u5b9a\u7c7b\u578b\u7684\u6d88\u606f\u3002\u6b64\u5916\uff0c\u8282\u70b9\u8fd8\u53ef\u4ee5\u4f7f\u7528ROS\u7684\u670d\u52a1\uff08Service\uff09\u673a\u5236\u8fdb\u884c\u901a\u4fe1\uff0c\u8bf7\u6c42\u8005\uff08Client\uff09\u53ef\u4ee5\u5411\u7279\u5b9a\u7684\u670d\u52a1\u53d1\u51fa\u8bf7\u6c42\uff0c\u670d\u52a1\u63d0\u4f9b\u8005\uff08Server\uff09\u53ef\u4ee5\u63d0\u4f9b\u76f8\u5e94\u7684\u670d\u52a1\u54cd\u5e94\u3002<\/p>\n\n\n\n<p>\u8282\u70b9\u7684\u5b9e\u73b0\u53ef\u4ee5\u4f7f\u7528\u591a\u79cd\u7f16\u7a0b\u8bed\u8a00\uff0c\u5982C++\u3001Python\u7b49\u3002ROS\u63d0\u4f9b\u4e86\u8bb8\u591a\u7f16\u7a0b\u5e93\u548c\u5de5\u5177\uff0c\u4f7f\u5f97\u8282\u70b9\u7684\u5f00\u53d1\u548c\u5b9e\u73b0\u66f4\u52a0\u5bb9\u6613\u548c\u9ad8\u6548\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728ROS\u7cfb\u7edf\u4e2d\uff0c\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u662f\u57fa\u4e8e\u5f02\u6b65\u6d88\u606f\u4f20\u8f93\u7684\uff0c\u5e76\u4e14\u8282\u70b9\u4e4b\u95f4\u662f\u76f8\u4e92\u72ec\u7acb\u7684\uff0c\u56e0\u6b64\u8282\u70b9\u53ef\u4ee5\u5728\u4e0d\u540c\u7684\u8ba1\u7b97\u673a\u4e0a\u8fd0\u884c\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u5927\u89c4\u6a21\u7684\u5206\u5e03\u5f0f\u8ba1\u7b97\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u57fa\u7840\u6982\u5ff5\u4e3b\u9898\uff08Topics\uff09ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u4e3b\u9898\uff08Topics\uff09\u662f\u6307\u7528\u4e8e\u53d1\u5e03\u548c\u8ba2\u9605\u7279\u5b9a\u7c7b\u578b\u6d88\u606f\uff08Messages\uff09\u7684\u901a\u4fe1\u673a\u5236\u3002\u4e3b\u9898\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u6982\u5ff5\uff0c\u5b83\u5141\u8bb8\u4e0d\u540c\u8282\u70b9\u4e4b\u95f4\u7684\u5f02\u6b65\u6d88\u606f\u4f20\u8f93\uff0c\u4ece\u800c\u5b9e\u73b0\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n<p>\u4e3b\u9898\u662fROS\u6d88\u606f\u4f20\u8f93\u673a\u5236\u7684\u6838\u5fc3\uff0c\u5b83\u5141\u8bb8\u8282\u70b9\u5c06\u6d88\u606f\u53d1\u5e03\u5230\u4e3b\u9898\u4e0a\uff0c\u540c\u65f6\u5176\u4ed6\u8282\u70b9\u53ef\u4ee5\u8ba2\u9605\u8fd9\u4e2a\u4e3b\u9898\u5e76\u63a5\u6536\u6d88\u606f\u3002\u6bcf\u4e2a\u4e3b\u9898\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684\u540d\u79f0\uff0c\u7528\u4e8e\u5728ROS\u7cfb\u7edf\u4e2d\u6807\u8bc6\u548c\u8bbf\u95ee\u3002<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u6d88\u606f\u53ef\u4ee5\u662f\u4efb\u610f\u7c7b\u578b\u7684\u6570\u636e\u7ed3\u6784\uff0c\u4f8b\u5982\u5b57\u7b26\u4e32\u3001\u6570\u5b57\u3001\u5e03\u5c14\u503c\u3001\u6570\u7ec4\u3001\u7ed3\u6784\u4f53\u7b49\u7b49\uff0c\u8fd9\u4e9b\u6d88\u606f\u53ef\u4ee5\u88ab\u7f16\u7801\u548c\u89e3\u7801\uff0c\u5e76\u5728ROS\u7cfb\u7edf\u4e2d\u901a\u8fc7\u4e3b\u9898\u8fdb\u884c\u4f20\u8f93\u3002\u4e3b\u9898\u53ef\u4ee5\u662f\u5355\u5411\u7684\uff08\u53d1\u5e03\u8005\u53ea\u53d1\u5e03\u6d88\u606f\uff0c\u6ca1\u6709\u54cd\u5e94\uff09\uff0c\u4e5f\u53ef\u4ee5\u662f\u53cc\u5411\u7684\uff08\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u4e4b\u95f4\u8fdb\u884c\u53cc\u5411\u901a\u4fe1\uff09\u3002<\/p>\n\n\n\n<p>ROS\u63d0\u4f9b\u4e86\u8bb8\u591a\u547d\u4ee4\u884c\u5de5\u5177\u548cAPI\uff0c\u4f7f\u5f97\u4e3b\u9898\u7684\u521b\u5efa\u3001\u53d1\u5e03\u548c\u8ba2\u9605\u53d8\u5f97\u5bb9\u6613\u548c\u9ad8\u6548\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528<code>rostopic<\/code>\u547d\u4ee4\u884c\u5de5\u5177\u6765\u67e5\u770b\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u7684\u4e3b\u9898\u5217\u8868\u3001\u67e5\u770b\u4e3b\u9898\u4e0a\u7684\u6d88\u606f\u3001\u53d1\u9001\u6d4b\u8bd5\u6d88\u606f\u7b49\u7b49\u3002\u540c\u65f6\uff0cROS\u8fd8\u63d0\u4f9b\u4e86\u8bb8\u591a\u7f16\u7a0b\u5e93\u548c\u5de5\u5177\uff0c\u5982<code>roscpp<\/code>\u548c<code>rospy<\/code>\uff0c\u7528\u4e8e\u5728ROS\u7a0b\u5e8f\u4e2d\u521b\u5efa\u548c\u5904\u7406\u4e3b\u9898\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u4e3b\u9898\u5728ROS\u7cfb\u7edf\u4e2d\u662f\u76f8\u4e92\u72ec\u7acb\u7684\uff0c\u5b83\u4eec\u4e0d\u77e5\u9053\u6216\u4e0d\u5173\u5fc3\u5176\u4ed6\u4e3b\u9898\u7684\u5b58\u5728\u3002\u56e0\u6b64\uff0c\u5728\u4f7f\u7528\u4e3b\u9898\u8fdb\u884c\u901a\u4fe1\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u6240\u6709\u8282\u70b9\u90fd\u80fd\u591f\u8bbf\u95ee\u5230\u76f8\u5e94\u7684\u4e3b\u9898\uff0c\u4ece\u800c\u5b9e\u73b0\u8282\u70b9\u4e4b\u95f4\u7684\u6b63\u786e\u901a\u4fe1\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u57fa\u7840\u6982\u5ff5\u670d\u52a1\uff08Services\uff09ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u670d\u52a1\uff08Services\uff09\u662f\u6307\u4e00\u79cd\u7528\u4e8e\u8282\u70b9\u4e4b\u95f4\u8bf7\u6c42\u548c\u54cd\u5e94\u6d88\u606f\u7684\u901a\u4fe1\u673a\u5236\u3002\u670d\u52a1\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u6982\u5ff5\uff0c\u5b83\u5141\u8bb8\u8282\u70b9\u4e4b\u95f4\u8fdb\u884c\u53cc\u5411\u901a\u4fe1\uff0c\u5e76\u652f\u6301\u8bf7\u6c42-\u54cd\u5e94\u6a21\u5f0f\u7684\u6d88\u606f\u4f20\u8f93\u3002<\/p>\n\n\n\n<p>\u670d\u52a1\u662f\u57fa\u4e8e\u4e3b\u9898\uff08Topics\uff09\u673a\u5236\u5b9e\u73b0\u7684\uff0c\u4f46\u662f\u5b83\u4e0d\u540c\u4e8e\u4e3b\u9898\uff0c\u5b83\u4e0d\u662f\u7528\u4e8e\u53d1\u5e03\u548c\u8ba2\u9605\u6d88\u606f\u7684\u673a\u5236\uff0c\u800c\u662f\u7528\u4e8e\u53d1\u9001\u8bf7\u6c42\u548c\u54cd\u5e94\u6d88\u606f\u7684\u673a\u5236\u3002\u670d\u52a1\u53ef\u4ee5\u652f\u6301\u4efb\u610f\u7c7b\u578b\u7684\u6570\u636e\u7ed3\u6784\uff0c\u53ef\u4ee5\u662f\u6570\u5b57\u3001\u5b57\u7b26\u4e32\u3001\u7ed3\u6784\u4f53\u7b49\u7b49\u3002<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u670d\u52a1\u5305\u62ec\u670d\u52a1\u8bf7\u6c42\uff08Request\uff09\u548c\u670d\u52a1\u54cd\u5e94\uff08Response\uff09\u3002\u5f53\u4e00\u4e2a\u8282\u70b9\u9700\u8981\u8bf7\u6c42\u4e00\u4e2a\u670d\u52a1\u65f6\uff0c\u5b83\u4f1a\u5411\u670d\u52a1\u63d0\u4f9b\u8005\uff08Server\uff09\u53d1\u9001\u4e00\u4e2a\u670d\u52a1\u8bf7\u6c42\u6d88\u606f\uff0c\u5e76\u7b49\u5f85\u670d\u52a1\u54cd\u5e94\u3002\u670d\u52a1\u63d0\u4f9b\u8005\u5728\u63a5\u6536\u5230\u670d\u52a1\u8bf7\u6c42\u540e\uff0c\u4f1a\u5904\u7406\u8bf7\u6c42\uff0c\u5e76\u5c06\u5904\u7406\u7ed3\u679c\u4f5c\u4e3a\u670d\u52a1\u54cd\u5e94\u53d1\u9001\u56de\u8bf7\u6c42\u8005\u3002<\/p>\n\n\n\n<p>\u6bcf\u4e2a\u670d\u52a1\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684\u540d\u79f0\uff0c\u7528\u4e8e\u5728ROS\u7cfb\u7edf\u4e2d\u6807\u8bc6\u548c\u8bbf\u95ee\u3002\u670d\u52a1\u540d\u79f0\u7684\u547d\u540d\u89c4\u5219\u4e0e\u4e3b\u9898\u540d\u79f0\u76f8\u540c\uff0c\u5373<code>\/namespace\/service_name<\/code>\u7684\u5f62\u5f0f\u3002\u670d\u52a1\u63d0\u4f9b\u8005\u548c\u670d\u52a1\u8bf7\u6c42\u8005\u90fd\u9700\u8981\u77e5\u9053\u670d\u52a1\u540d\u79f0\uff0c\u5e76\u4f7f\u7528ROS\u4e2d\u63d0\u4f9b\u7684\u76f8\u5e94API\u5b9e\u73b0\u670d\u52a1\u7684\u8bf7\u6c42\u548c\u54cd\u5e94\u3002<\/p>\n\n\n\n<p>ROS\u63d0\u4f9b\u4e86\u8bb8\u591a\u547d\u4ee4\u884c\u5de5\u5177\u548cAPI\uff0c\u4f7f\u5f97\u670d\u52a1\u7684\u521b\u5efa\u3001\u8bf7\u6c42\u548c\u54cd\u5e94\u53d8\u5f97\u5bb9\u6613\u548c\u9ad8\u6548\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528<code>rosservice<\/code>\u547d\u4ee4\u884c\u5de5\u5177\u6765\u5217\u51fa\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u53ef\u7528\u7684\u670d\u52a1\u3001\u53d1\u9001\u6d4b\u8bd5\u670d\u52a1\u8bf7\u6c42\u7b49\u7b49\u3002\u540c\u65f6\uff0cROS\u8fd8\u63d0\u4f9b\u4e86\u8bb8\u591a\u7f16\u7a0b\u5e93\u548c\u5de5\u5177\uff0c\u5982<code>roscpp<\/code>\u548c<code>rospy<\/code>\uff0c\u7528\u4e8e\u5728ROS\u7a0b\u5e8f\u4e2d\u521b\u5efa\u548c\u5904\u7406\u670d\u52a1\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u670d\u52a1\u5728ROS\u7cfb\u7edf\u4e2d\u662f\u76f8\u4e92\u72ec\u7acb\u7684\uff0c\u5b83\u4eec\u4e0d\u77e5\u9053\u6216\u4e0d\u5173\u5fc3\u5176\u4ed6\u670d\u52a1\u7684\u5b58\u5728\u3002\u56e0\u6b64\uff0c\u5728\u4f7f\u7528\u670d\u52a1\u8fdb\u884c\u901a\u4fe1\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u6240\u6709\u8282\u70b9\u90fd\u80fd\u591f\u8bbf\u95ee\u5230\u76f8\u5e94\u7684\u670d\u52a1\uff0c\u4ece\u800c\u5b9e\u73b0\u8282\u70b9\u4e4b\u95f4\u7684\u6b63\u786e\u901a\u4fe1\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u57fa\u7840\u6982\u5ff5\u6d88\u606f\uff08Messages\uff09ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u6d88\u606f\uff08Messages\uff09\u662f\u6307\u5728ROS\u8282\u70b9\u4e4b\u95f4\u4f20\u9012\u7684\u6570\u636e\u7ed3\u6784\u3002\u6d88\u606f\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u6982\u5ff5\uff0c\u5b83\u5b9a\u4e49\u4e86ROS\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u534f\u8bae\u548c\u6570\u636e\u683c\u5f0f\u3002\u6d88\u606f\u53ef\u4ee5\u662f\u4efb\u610f\u7c7b\u578b\u7684\u6570\u636e\u7ed3\u6784\uff0c\u4f8b\u5982\u6570\u5b57\u3001\u5b57\u7b26\u4e32\u3001\u5e03\u5c14\u503c\u3001\u6570\u7ec4\u3001\u7ed3\u6784\u4f53\u7b49\u7b49\u3002<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u6d88\u606f\u88ab\u5b9a\u4e49\u4e3a<code>.msg<\/code>\u6587\u4ef6\uff0c\u8fd9\u4e9b\u6587\u4ef6\u5b9a\u4e49\u4e86\u6d88\u606f\u7c7b\u578b\u548c\u6d88\u606f\u7ed3\u6784\u3002\u6d88\u606f\u53ef\u4ee5\u5305\u542b\u591a\u4e2a\u5b57\u6bb5\u548c\u5c5e\u6027\uff0c\u6bcf\u4e2a\u5b57\u6bb5\u53ef\u4ee5\u662f\u4e0d\u540c\u7684\u6570\u636e\u7c7b\u578b\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u5b9a\u4e49\u4e00\u4e2a\u5305\u542b\u4e24\u4e2a\u6574\u6570\u5b57\u6bb5\u548c\u4e00\u4e2a\u5b57\u7b26\u4e32\u5b57\u6bb5\u7684\u6d88\u606f\u7c7b\u578b\u3002<\/p>\n\n\n\n<p>\u6d88\u606f\u7684\u683c\u5f0f\u548c\u7f16\u7801\u662fROS\u8282\u70b9\u4e4b\u95f4\u901a\u4fe1\u7684\u6838\u5fc3\uff0c\u56e0\u4e3a\u5b83\u5b9a\u4e49\u4e86\u6d88\u606f\u7684\u8bed\u4e49\u548c\u6570\u636e\u7ed3\u6784\u3002ROS\u63d0\u4f9b\u4e86\u4e00\u4e9b\u6807\u51c6\u7684\u6d88\u606f\u7c7b\u578b\uff0c\u4f8b\u5982<code>std_msgs<\/code>\u548c<code>geometry_msgs<\/code>\uff0c\u540c\u65f6\u4e5f\u652f\u6301\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u3002<\/p>\n\n\n\n<p>\u5728ROS\u8282\u70b9\u4e4b\u95f4\u4f20\u9012\u6d88\u606f\u65f6\uff0c\u901a\u5e38\u4f7f\u7528\u4e3b\u9898\uff08Topics\uff09\u548c\u670d\u52a1\uff08Services\uff09\u8fd9\u4e24\u79cd\u901a\u4fe1\u673a\u5236\u3002\u53d1\u5e03\u8005\uff08Publisher\uff09\u5c06\u7279\u5b9a\u7c7b\u578b\u7684\u6d88\u606f\u53d1\u5e03\u5230\u4e00\u4e2a\u7279\u5b9a\u7684\u4e3b\u9898\u4e0a\uff0c\u800c\u8ba2\u9605\u8005\uff08Subscriber\uff09\u5219\u53ef\u4ee5\u4ece\u76f8\u5e94\u7684\u4e3b\u9898\u4e0a\u8ba2\u9605\u7279\u5b9a\u7c7b\u578b\u7684\u6d88\u606f\u3002\u8bf7\u6c42\u8005\uff08Client\uff09\u53ef\u4ee5\u5411\u7279\u5b9a\u7684\u670d\u52a1\u53d1\u51fa\u8bf7\u6c42\uff0c\u670d\u52a1\u63d0\u4f9b\u8005\uff08Server\uff09\u53ef\u4ee5\u63d0\u4f9b\u76f8\u5e94\u7684\u670d\u52a1\u54cd\u5e94\u3002<\/p>\n\n\n\n<p>ROS\u63d0\u4f9b\u4e86\u8bb8\u591a\u547d\u4ee4\u884c\u5de5\u5177\u548cAPI\uff0c\u4f7f\u5f97\u6d88\u606f\u7684\u521b\u5efa\u3001\u53d1\u9001\u548c\u63a5\u6536\u53d8\u5f97\u5bb9\u6613\u548c\u9ad8\u6548\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528<code>rosmsg<\/code>\u548c<code>rostopic<\/code>\u547d\u4ee4\u884c\u5de5\u5177\u6765\u67e5\u770b\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u53ef\u7528\u7684\u6d88\u606f\u7c7b\u578b\u3001\u53d1\u5e03\u548c\u8ba2\u9605\u6d88\u606f\u7b49\u7b49\u3002\u540c\u65f6\uff0cROS\u8fd8\u63d0\u4f9b\u4e86\u8bb8\u591a\u7f16\u7a0b\u5e93\u548c\u5de5\u5177\uff0c\u5982<code>roscpp<\/code>\u548c<code>rospy<\/code>\uff0c\u7528\u4e8e\u5728ROS\u7a0b\u5e8f\u4e2d\u521b\u5efa\u548c\u5904\u7406\u6d88\u606f\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u6d88\u606f\u5728ROS\u7cfb\u7edf\u4e2d\u662f\u76f8\u4e92\u72ec\u7acb\u7684\uff0c\u5b83\u4eec\u4e0d\u77e5\u9053\u6216\u4e0d\u5173\u5fc3\u5176\u4ed6\u6d88\u606f\u7684\u5b58\u5728\u3002\u56e0\u6b64\uff0c\u5728\u4f7f\u7528\u6d88\u606f\u8fdb\u884c\u901a\u4fe1\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u6240\u6709\u8282\u70b9\u90fd\u4f7f\u7528\u76f8\u540c\u7684\u6d88\u606f\u7c7b\u578b\u548c\u6d88\u606f\u7ed3\u6784\uff0c\u4ece\u800c\u5b9e\u73b0\u8282\u70b9\u4e4b\u95f4\u7684\u6b63\u786e\u901a\u4fe1\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u57fa\u7840\u6982\u5ff5\u53c2\u6570\u670d\u52a1\u5668\uff08Parameter Server\uff09ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u53c2\u6570\u670d\u52a1\u5668\uff08Parameter Server\uff09\u662f\u6307\u4e00\u4e2a\u7528\u4e8e\u5b58\u50a8\u548c\u5171\u4eab\u8282\u70b9\u53c2\u6570\u7684\u5206\u5e03\u5f0f\u6570\u636e\u5e93\u3002\u53c2\u6570\u670d\u52a1\u5668\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u6982\u5ff5\uff0c\u5b83\u5141\u8bb8ROS\u8282\u70b9\u5728\u8fd0\u884c\u65f6\u8bfb\u53d6\u3001\u5199\u5165\u548c\u5171\u4eab\u53c2\u6570\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u8282\u70b9\u53c2\u6570\u7684\u52a8\u6001\u914d\u7f6e\u548c\u7ba1\u7406\u3002<\/p>\n\n\n\n<p>\u53c2\u6570\u670d\u52a1\u5668\u901a\u5e38\u7528\u4e8e\u5b58\u50a8\u548c\u5171\u4eab\u8282\u70b9\u7684\u914d\u7f6e\u53c2\u6570\u3001\u5e38\u91cf\u548c\u8fd0\u884c\u65f6\u72b6\u6001\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u5728\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u5b58\u50a8\u673a\u5668\u4eba\u7684\u8d77\u59cb\u4f4d\u7f6e\u3001\u901f\u5ea6\u9650\u5236\u3001\u8fd0\u52a8\u89c4\u5212\u53c2\u6570\u7b49\u7b49\u3002\u8282\u70b9\u53ef\u4ee5\u4ece\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u8bfb\u53d6\u548c\u66f4\u65b0\u8fd9\u4e9b\u53c2\u6570\uff0c\u4ece\u800c\u5b9e\u73b0\u8282\u70b9\u53c2\u6570\u7684\u52a8\u6001\u7ba1\u7406\u3002<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u53c2\u6570\u670d\u52a1\u5668\u4f7f\u7528\u952e\u503c\u5bf9\u7684\u65b9\u5f0f\u5b58\u50a8\u548c\u7ba1\u7406\u53c2\u6570\uff0c\u5176\u4e2d\u952e\u8868\u793a\u53c2\u6570\u540d\u79f0\uff0c\u503c\u8868\u793a\u53c2\u6570\u7684\u503c\u3002\u6bcf\u4e2a\u53c2\u6570\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684\u540d\u79f0\uff0c\u7528\u4e8e\u5728ROS\u7cfb\u7edf\u4e2d\u6807\u8bc6\u548c\u8bbf\u95ee\u3002\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u88ab\u591a\u4e2aROS\u8282\u70b9\u5171\u4eab\uff0c\u56e0\u6b64\u5b83\u53ef\u4ee5\u5b9e\u73b0\u8282\u70b9\u4e4b\u95f4\u7684\u53c2\u6570\u5171\u4eab\u548c\u540c\u6b65\u3002<\/p>\n\n\n\n<p>ROS\u63d0\u4f9b\u4e86\u4e00\u4e9bAPI\u548c\u5de5\u5177\uff0c\u7528\u4e8e\u5728ROS\u7a0b\u5e8f\u4e2d\u521b\u5efa\u3001\u8bfb\u53d6\u548c\u66f4\u65b0\u53c2\u6570\u670d\u52a1\u5668\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528<code>rosparam<\/code>\u547d\u4ee4\u884c\u5de5\u5177\u6765\u5217\u51fa\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u7684\u53c2\u6570\u3001\u8bfb\u53d6\u548c\u66f4\u65b0\u53c2\u6570\u503c\u7b49\u7b49\u3002\u540c\u65f6\uff0cROS\u8fd8\u63d0\u4f9b\u4e86\u8bb8\u591a\u7f16\u7a0b\u5e93\u548c\u5de5\u5177\uff0c\u5982<code>roscpp<\/code>\u548c<code>rospy<\/code>\uff0c\u7528\u4e8e\u5728ROS\u7a0b\u5e8f\u4e2d\u521b\u5efa\u548c\u5904\u7406\u53c2\u6570\u670d\u52a1\u5668\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u901a\u4fe1\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u6240\u6709\u8282\u70b9\u90fd\u80fd\u591f\u8bbf\u95ee\u5230\u76f8\u5e94\u7684\u53c2\u6570\uff0c\u5e76\u4e14\u5728\u4fee\u6539\u53c2\u6570\u65f6\u4e0d\u4f1a\u7834\u574f\u5176\u4ed6\u8282\u70b9\u7684\u5de5\u4f5c\u3002\u56e0\u6b64\uff0c\u5728\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u8282\u70b9\u53c2\u6570\u7ba1\u7406\u65f6\uff0c\u9700\u8981\u6ce8\u610f\u53c2\u6570\u7684\u547d\u540d\u89c4\u5219\u3001\u8bbf\u95ee\u6743\u9650\u548c\u503c\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177roscoreChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>roscore<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u542f\u52a8ROS\u7cfb\u7edf\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>roscore<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u7cfb\u7edf\u6240\u9700\u7684\u57fa\u7840\u8bbe\u65bd\uff0c\u5305\u62ec\u53c2\u6570\u670d\u52a1\u5668\uff08Parameter Server\uff09\u3001\u4e3b\u8282\u70b9\uff08Master\uff09\u3001ROS\u65e5\u5fd7\u8bb0\u5f55\u5668\uff08rosout\uff09\u7b49\u7b49\u3002<\/p>\n\n\n\n<p><code>roscore<\/code>\u547d\u4ee4\u7528\u4e8e\u542f\u52a8ROS\u7cfb\u7edf\uff0c\u5b83\u4f1a\u542f\u52a8ROS\u53c2\u6570\u670d\u52a1\u5668\u548c\u4e3b\u8282\u70b9\uff0c\u540c\u65f6\u542f\u52a8ROS\u65e5\u5fd7\u8bb0\u5f55\u5668\uff0c\u4ece\u800c\u4e3aROS\u7cfb\u7edf\u63d0\u4f9b\u5fc5\u8981\u7684\u670d\u52a1\u548c\u8bbe\u65bd\u3002\u5728ROS\u7cfb\u7edf\u4e2d\uff0c\u53c2\u6570\u670d\u52a1\u5668\u7528\u4e8e\u5b58\u50a8\u548c\u5171\u4eab\u8282\u70b9\u53c2\u6570\uff0c\u4e3b\u8282\u70b9\u7528\u4e8e\u7ba1\u7406ROS\u7cfb\u7edf\u4e2d\u7684\u4e3b\u9898\uff08Topics\uff09\u3001\u670d\u52a1\uff08Services\uff09\u548c\u8282\u70b9\uff08Nodes\uff09\uff0cROS\u65e5\u5fd7\u8bb0\u5f55\u5668\u7528\u4e8e\u8bb0\u5f55ROS\u8282\u70b9\u7684\u65e5\u5fd7\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u5f53\u4f7f\u7528<code>roscore<\/code>\u547d\u4ee4\u542f\u52a8ROS\u7cfb\u7edf\u65f6\uff0c\u5b83\u4f1a\u76d1\u542c\u6765\u81ea\u5176\u4ed6ROS\u8282\u70b9\u7684\u8bf7\u6c42\uff0c\u5e76\u5c06\u8fd9\u4e9b\u8bf7\u6c42\u8f6c\u53d1\u7ed9\u76f8\u5e94\u7684\u8282\u70b9\u3002\u540c\u65f6\uff0c<code>roscore<\/code>\u8fd8\u4f1a\u63d0\u4f9b\u547d\u4ee4\u884c\u754c\u9762\u548cAPI\uff0c\u4f7f\u5f97\u7528\u6237\u53ef\u4ee5\u67e5\u770bROS\u7cfb\u7edf\u4e2d\u7684\u4e3b\u9898\u3001\u670d\u52a1\u548c\u8282\u70b9\u4fe1\u606f\uff0c\u540c\u65f6\u53ef\u4ee5\u542f\u52a8\u3001\u505c\u6b62\u548c\u91cd\u542fROS\u8282\u70b9\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c<code>roscore<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u6838\u5fc3\u547d\u4ee4\uff0c\u5b83\u9700\u8981\u5728\u4f7f\u7528\u5176\u4ed6ROS\u547d\u4ee4\u4e4b\u524d\u542f\u52a8\u3002\u5728\u542f\u52a8ROS\u7cfb\u7edf\u65f6\uff0c\u5fc5\u987b\u9996\u5148\u542f\u52a8<code>roscore<\/code>\u547d\u4ee4\uff0c\u7136\u540e\u624d\u80fd\u4f7f\u7528\u5176\u4ed6ROS\u547d\u4ee4\u8fdb\u884c\u64cd\u4f5c\u3002\u6b64\u5916\uff0c<code>roscore<\/code>\u8fd8\u9700\u8981\u5728\u6574\u4e2aROS\u7cfb\u7edf\u8fd0\u884c\u671f\u95f4\u4fdd\u6301\u8fd0\u884c\uff0c\u4ee5\u786e\u4fddROS\u7cfb\u7edf\u80fd\u591f\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>roscore<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u7cfb\u7edf\u6240\u9700\u7684\u57fa\u7840\u8bbe\u65bd\u548c\u670d\u52a1\uff0c\u4e3aROS\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u548c\u534f\u4f5c\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177rosrunChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>rosrun<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u542f\u52a8ROS\u8282\u70b9\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>rosrun<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u547d\u4ee4\uff0c\u5b83\u5141\u8bb8\u7528\u6237\u542f\u52a8\u3001\u8fd0\u884c\u548c\u7ba1\u7406ROS\u8282\u70b9\uff0c\u4ece\u800c\u5b9e\u73b0ROS\u8282\u70b9\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<p><code>rosrun<\/code>\u547d\u4ee4\u7528\u4e8e\u542f\u52a8\u4e00\u4e2aROS\u8282\u70b9\uff0c\u5b83\u9700\u8981\u6307\u5b9a\u8282\u70b9\u7684\u5305\u540d\u548c\u8282\u70b9\u540d\u79f0\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u4e00\u4e2a\u540d\u4e3a<code>my_node<\/code>\u7684ROS\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosrun my_package my_node\n<\/code><\/pre>\n\n\n\n<p>\u5728\u542f\u52a8ROS\u8282\u70b9\u65f6\uff0c<code>rosrun<\/code>\u4f1a\u81ea\u52a8\u67e5\u627e\u6307\u5b9a\u5305\u4e2d\u7684\u8282\u70b9\u7a0b\u5e8f\uff0c\u5e76\u6267\u884c\u8be5\u7a0b\u5e8f\uff0c\u4ece\u800c\u542f\u52a8ROS\u8282\u70b9\u3002<code>rosrun<\/code>\u8fd8\u53ef\u4ee5\u6307\u5b9a\u5176\u4ed6\u53c2\u6570\uff0c\u4f8b\u5982\u6307\u5b9aROS\u8282\u70b9\u7684\u540d\u79f0\u3001\u547d\u540d\u7a7a\u95f4\u7b49\u7b49\u3002<\/p>\n\n\n\n<p>\u4f7f\u7528<code>rosrun<\/code>\u547d\u4ee4\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884cROS\u8282\u70b9\u7684\u5f00\u53d1\u3001\u8c03\u8bd5\u548c\u6d4b\u8bd5\u3002\u5b83\u53ef\u4ee5\u542f\u52a8\u591a\u4e2a\u8282\u70b9\uff0c\u4ece\u800c\u6a21\u62df\u5b9e\u9645\u7684ROS\u7cfb\u7edf\uff0c\u5e76\u901a\u8fc7ROS\u4e3b\u9898\u3001\u670d\u52a1\u548c\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u548c\u534f\u4f5c\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u4f7f\u7528<code>rosrun<\/code>\u547d\u4ee4\u542f\u52a8ROS\u8282\u70b9\u65f6\uff0c\u5fc5\u987b\u786e\u4fdd<code>roscore<\/code>\u547d\u4ee4\u5df2\u7ecf\u5728\u8fd0\u884c\u3002\u56e0\u4e3a<code>rosrun<\/code>\u547d\u4ee4\u9700\u8981\u4e0eROS\u4e3b\u8282\u70b9\u8fdb\u884c\u901a\u4fe1\uff0c\u4ece\u800c\u542f\u52a8\u548c\u7ba1\u7406ROS\u8282\u70b9\u3002\u5728\u4f7f\u7528<code>rosrun<\/code>\u547d\u4ee4\u8fdb\u884cROS\u8282\u70b9\u5f00\u53d1\u548c\u6d4b\u8bd5\u65f6\uff0c\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u8282\u70b9\u7684\u547d\u540d\u89c4\u5219\u3001\u6570\u636e\u7c7b\u578b\u548c\u901a\u4fe1\u534f\u8bae\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u8282\u70b9\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>rosrun<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u8282\u70b9\u7684\u542f\u52a8\u548c\u7ba1\u7406\u529f\u80fd\uff0c\u4e3aROS\u8282\u70b9\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177roslaunchChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>roslaunch<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u542f\u52a8ROS\u7cfb\u7edf\u548c\u591a\u4e2aROS\u8282\u70b9\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>roslaunch<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u53ef\u4ee5\u901a\u8fc7\u542f\u52a8\u4e00\u4e2a\u6216\u591a\u4e2aROS\u8282\u70b9\uff0c\u81ea\u52a8\u5b8c\u6210ROS\u7cfb\u7edf\u7684\u914d\u7f6e\u3001\u53c2\u6570\u52a0\u8f7d\u3001\u8282\u70b9\u542f\u52a8\u548c\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u534f\u8c03\uff0c\u4ece\u800c\u7b80\u5316ROS\u7cfb\u7edf\u7684\u542f\u52a8\u548c\u7ba1\u7406\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p><code>roslaunch<\/code>\u547d\u4ee4\u7528\u4e8e\u542f\u52a8ROS\u7cfb\u7edf\u548cROS\u8282\u70b9\uff0c\u5b83\u9700\u8981\u6307\u5b9a\u4e00\u4e2a<code>.launch<\/code>\u6587\u4ef6\u4f5c\u4e3a\u8f93\u5165\u3002<code>.launch<\/code>\u6587\u4ef6\u662f\u4e00\u4e2aXML\u6587\u4ef6\uff0c\u5b83\u63cf\u8ff0\u4e86ROS\u7cfb\u7edf\u548cROS\u8282\u70b9\u7684\u542f\u52a8\u548c\u914d\u7f6e\u4fe1\u606f\uff0c\u5305\u62ecROS\u53c2\u6570\u3001ROS\u8282\u70b9\u3001ROS\u4e3b\u9898\u3001ROS\u670d\u52a1\u7b49\u7b49\u3002<\/p>\n\n\n\n<p>\u4f7f\u7528<code>roslaunch<\/code>\u547d\u4ee4\u53ef\u4ee5\u65b9\u4fbf\u5730\u542f\u52a8\u548c\u7ba1\u7406ROS\u7cfb\u7edf\uff0c\u5b83\u53ef\u4ee5\u81ea\u52a8\u5b8c\u6210\u591a\u4e2aROS\u8282\u70b9\u7684\u542f\u52a8\u548c\u914d\u7f6e\uff0c\u4ece\u800c\u7b80\u5316ROS\u7cfb\u7edf\u7684\u542f\u52a8\u8fc7\u7a0b\u3002\u540c\u65f6\uff0c<code>roslaunch<\/code>\u8fd8\u652f\u6301\u52a8\u6001\u53c2\u6570\u914d\u7f6e\u3001\u8282\u70b9\u91cd\u5b9a\u5411\u3001\u8282\u70b9\u91cd\u542f\u7b49\u9ad8\u7ea7\u529f\u80fd\uff0c\u4ece\u800c\u63d0\u9ad8ROS\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u548c\u53ef\u7ef4\u62a4\u6027\u3002<\/p>\n\n\n\n<p><code>roslaunch<\/code>\u8fd8\u652f\u6301ROS\u53c2\u6570\u548cROS\u547d\u540d\u7a7a\u95f4\u7684\u7ba1\u7406\uff0c\u4ece\u800c\u5b9e\u73b0ROS\u7cfb\u7edf\u7684\u7075\u6d3b\u914d\u7f6e\u548c\u7ba1\u7406\u3002\u901a\u8fc7\u6307\u5b9a\u4e0d\u540c\u7684\u53c2\u6570\u548c\u547d\u540d\u7a7a\u95f4\uff0c\u53ef\u4ee5\u542f\u52a8\u4e0d\u540c\u7684ROS\u7cfb\u7edf\u5b9e\u4f8b\uff0c\u4ece\u800c\u5b9e\u73b0\u591a\u4e2aROS\u7cfb\u7edf\u7684\u5e76\u884c\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528<code>roslaunch<\/code>\u547d\u4ee4\u542f\u52a8ROS\u7cfb\u7edf\u65f6\uff0c\u5fc5\u987b\u786e\u4fdd<code>roscore<\/code>\u547d\u4ee4\u5df2\u7ecf\u5728\u8fd0\u884c\u3002\u56e0\u4e3a<code>roslaunch<\/code>\u547d\u4ee4\u9700\u8981\u4e0eROS\u4e3b\u8282\u70b9\u8fdb\u884c\u901a\u4fe1\uff0c\u4ece\u800c\u542f\u52a8\u548c\u7ba1\u7406ROS\u8282\u70b9\u3002\u5728\u4f7f\u7528<code>roslaunch<\/code>\u547d\u4ee4\u8fdb\u884cROS\u7cfb\u7edf\u5f00\u53d1\u548c\u6d4b\u8bd5\u65f6\uff0c\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u8282\u70b9\u7684\u542f\u52a8\u987a\u5e8f\u3001\u901a\u4fe1\u534f\u8bae\u548c\u8fd0\u884c\u72b6\u6001\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u7cfb\u7edf\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>roslaunch<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u7cfb\u7edf\u548cROS\u8282\u70b9\u7684\u81ea\u52a8\u914d\u7f6e\u548c\u7ba1\u7406\u529f\u80fd\uff0c\u4e3aROS\u7cfb\u7edf\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177rosnodeChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>rosnode<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u7ba1\u7406\u548c\u67e5\u770bROS\u8282\u70b9\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>rosnode<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u8282\u70b9\u7684\u542f\u52a8\u3001\u505c\u6b62\u3001\u67e5\u770b\u548c\u8c03\u8bd5\u529f\u80fd\uff0c\u4ece\u800c\u5e2e\u52a9\u7528\u6237\u66f4\u597d\u5730\u7ba1\u7406ROS\u7cfb\u7edf\u548cROS\u8282\u70b9\u3002<\/p>\n\n\n\n<p><code>rosnode<\/code>\u547d\u4ee4\u53ef\u4ee5\u7528\u4e8e\u67e5\u8be2\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u6240\u6709\u7684ROS\u8282\u70b9\uff0c\u540c\u65f6\u53ef\u4ee5\u67e5\u770b\u8282\u70b9\u7684\u72b6\u6001\u3001\u4e3b\u9898\u3001\u670d\u52a1\u7b49\u7b49\u4fe1\u606f\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u7684\u6240\u6709ROS\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosnode list\n<\/code><\/pre>\n\n\n\n<p>\u4f7f\u7528<code>rosnode<\/code>\u547d\u4ee4\u53ef\u4ee5\u65b9\u4fbf\u5730\u67e5\u770bROS\u7cfb\u7edf\u548cROS\u8282\u70b9\u7684\u72b6\u6001\uff0c\u4ece\u800c\u8fdb\u884c\u8282\u70b9\u7684\u8c03\u8bd5\u548c\u6d4b\u8bd5\u3002<code>rosnode<\/code>\u8fd8\u652f\u6301\u5176\u4ed6\u4e00\u4e9b\u547d\u4ee4\uff0c\u5982<code>rosnode ping<\/code>\u3001<code>rosnode info<\/code>\u3001<code>rosnode kill<\/code>\u7b49\u7b49\uff0c\u7528\u4e8e\u6d4b\u8bd5\u8282\u70b9\u7684\u8fde\u63a5\u3001\u67e5\u8be2\u8282\u70b9\u7684\u4fe1\u606f\u548c\u505c\u6b62\u8282\u70b9\u7684\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528<code>rosnode<\/code>\u547d\u4ee4\u7ba1\u7406ROS\u8282\u70b9\u65f6\uff0c\u9700\u8981\u786e\u4fddROS\u8282\u70b9\u5df2\u7ecf\u542f\u52a8\u5e76\u4e14\u5728\u8fd0\u884c\u3002\u6b64\u5916\uff0c\u8fd8\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u8282\u70b9\u7684\u547d\u540d\u89c4\u5219\u3001\u6570\u636e\u7c7b\u578b\u548c\u901a\u4fe1\u534f\u8bae\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u8282\u70b9\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>rosnode<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u8282\u70b9\u7684\u67e5\u770b\u3001\u8c03\u8bd5\u548c\u7ba1\u7406\u529f\u80fd\uff0c\u4e3aROS\u7cfb\u7edf\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177rostopicChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>rostopic<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u7ba1\u7406\u548c\u67e5\u770bROS\u4e3b\u9898\uff08Topics\uff09\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>rostopic<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u4e3b\u9898\u7684\u53d1\u5e03\u3001\u8ba2\u9605\u3001\u67e5\u770b\u548c\u8c03\u8bd5\u529f\u80fd\uff0c\u4ece\u800c\u5e2e\u52a9\u7528\u6237\u66f4\u597d\u5730\u7ba1\u7406ROS\u7cfb\u7edf\u548cROS\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n<p><code>rostopic<\/code>\u547d\u4ee4\u53ef\u4ee5\u7528\u4e8e\u67e5\u8be2\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u6240\u6709\u7684ROS\u4e3b\u9898\uff0c\u540c\u65f6\u53ef\u4ee5\u67e5\u770b\u4e3b\u9898\u7684\u72b6\u6001\u3001\u6570\u636e\u7c7b\u578b\u3001\u53d1\u5e03\u8005\u3001\u8ba2\u9605\u8005\u7b49\u7b49\u4fe1\u606f\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u7684\u6240\u6709ROS\u4e3b\u9898\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rostopic list\n<\/code><\/pre>\n\n\n\n<p>\u4f7f\u7528<code>rostopic<\/code>\u547d\u4ee4\u8fd8\u53ef\u4ee5\u67e5\u770bROS\u4e3b\u9898\u7684\u6570\u636e\u5185\u5bb9\uff0c\u4f8b\u5982\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u4e00\u4e2a\u540d\u4e3a<code>\/robot\/pose<\/code>\u7684\u4e3b\u9898\u6570\u636e\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>rostopic echo \/robot\/pose\n<\/code><\/pre>\n\n\n\n<p>\u540c\u65f6\uff0c<code>rostopic<\/code>\u8fd8\u652f\u6301\u5176\u4ed6\u4e00\u4e9b\u547d\u4ee4\uff0c\u5982<code>rostopic pub<\/code>\u3001<code>rostopic bw<\/code>\u3001<code>rostopic hz<\/code>\u7b49\u7b49\uff0c\u7528\u4e8e\u53d1\u5e03\u4e3b\u9898\u3001\u67e5\u770b\u4e3b\u9898\u7684\u5e26\u5bbd\u548c\u9891\u7387\u7b49\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528<code>rostopic<\/code>\u547d\u4ee4\u7ba1\u7406ROS\u4e3b\u9898\u65f6\uff0c\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u4e3b\u9898\u7684\u547d\u540d\u89c4\u5219\u3001\u6570\u636e\u7c7b\u578b\u548c\u901a\u4fe1\u534f\u8bae\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u4e3b\u9898\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u6b64\u5916\uff0c\u5728\u4f7f\u7528<code>rostopic<\/code>\u547d\u4ee4\u65f6\uff0c\u8fd8\u9700\u8981\u786e\u4fddROS\u4e3b\u9898\u5df2\u7ecf\u542f\u52a8\u5e76\u4e14\u5728\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>rostopic<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u4e3b\u9898\u7684\u67e5\u770b\u3001\u8c03\u8bd5\u548c\u7ba1\u7406\u529f\u80fd\uff0c\u4e3aROS\u7cfb\u7edf\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177rosserviceChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>rosservice<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u7ba1\u7406\u548c\u67e5\u770bROS\u670d\u52a1\uff08Services\uff09\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>rosservice<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u670d\u52a1\u7684\u53d1\u5e03\u3001\u8c03\u7528\u3001\u67e5\u770b\u548c\u8c03\u8bd5\u529f\u80fd\uff0c\u4ece\u800c\u5e2e\u52a9\u7528\u6237\u66f4\u597d\u5730\u7ba1\u7406ROS\u7cfb\u7edf\u548cROS\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n<p><code>rosservice<\/code>\u547d\u4ee4\u53ef\u4ee5\u7528\u4e8e\u67e5\u8be2\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u6240\u6709\u7684ROS\u670d\u52a1\uff0c\u540c\u65f6\u53ef\u4ee5\u67e5\u770b\u670d\u52a1\u7684\u72b6\u6001\u3001\u6570\u636e\u7c7b\u578b\u3001\u63d0\u4f9b\u8005\u3001\u8bf7\u6c42\u8005\u7b49\u7b49\u4fe1\u606f\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u7684\u6240\u6709ROS\u670d\u52a1\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosservice list\n<\/code><\/pre>\n\n\n\n<p>\u4f7f\u7528<code>rosservice<\/code>\u547d\u4ee4\u8fd8\u53ef\u4ee5\u8c03\u7528ROS\u670d\u52a1\uff0c\u4f8b\u5982\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8c03\u7528\u4e00\u4e2a\u540d\u4e3a<code>\/robot\/move<\/code>\u7684\u670d\u52a1\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">arduinoCopy code<code>rosservice call \/robot\/move \"x: 1.0, y: 2.0, z: 0.0\"\n<\/code><\/pre>\n\n\n\n<p>\u540c\u65f6\uff0c<code>rosservice<\/code>\u8fd8\u652f\u6301\u5176\u4ed6\u4e00\u4e9b\u547d\u4ee4\uff0c\u5982<code>rosservice type<\/code>\u3001<code>rosservice uri<\/code>\u3001<code>rosservice find<\/code>\u7b49\u7b49\uff0c\u7528\u4e8e\u67e5\u8be2\u670d\u52a1\u7684\u6570\u636e\u7c7b\u578b\u3001URI\u5730\u5740\u548c\u63d0\u4f9b\u8005\u7b49\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528<code>rosservice<\/code>\u547d\u4ee4\u7ba1\u7406ROS\u670d\u52a1\u65f6\uff0c\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u670d\u52a1\u7684\u547d\u540d\u89c4\u5219\u3001\u6570\u636e\u7c7b\u578b\u548c\u901a\u4fe1\u534f\u8bae\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u670d\u52a1\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u6b64\u5916\uff0c\u5728\u4f7f\u7528<code>rosservice<\/code>\u547d\u4ee4\u65f6\uff0c\u8fd8\u9700\u8981\u786e\u4fddROS\u670d\u52a1\u5df2\u7ecf\u542f\u52a8\u5e76\u4e14\u5728\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>rosservice<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u670d\u52a1\u7684\u8c03\u7528\u3001\u67e5\u770b\u548c\u7ba1\u7406\u529f\u80fd\uff0c\u4e3aROS\u7cfb\u7edf\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177rosparamChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>rosparam<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u7ba1\u7406\u548c\u67e5\u770bROS\u53c2\u6570\u670d\u52a1\u5668\uff08Parameter Server\uff09\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>rosparam<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u53c2\u6570\u7684\u8bbe\u7f6e\u3001\u83b7\u53d6\u3001\u5220\u9664\u548c\u67e5\u770b\u529f\u80fd\uff0c\u4ece\u800c\u5e2e\u52a9\u7528\u6237\u66f4\u597d\u5730\u7ba1\u7406ROS\u7cfb\u7edf\u548cROS\u8282\u70b9\u4e4b\u95f4\u7684\u53c2\u6570\u3002<\/p>\n\n\n\n<p><code>rosparam<\/code>\u547d\u4ee4\u53ef\u4ee5\u7528\u4e8e\u67e5\u8be2\u5f53\u524dROS\u7cfb\u7edf\u4e2d\u6240\u6709\u7684ROS\u53c2\u6570\uff0c\u540c\u65f6\u53ef\u4ee5\u8bbe\u7f6e\u548c\u83b7\u53d6\u53c2\u6570\u7684\u503c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8bbe\u7f6e\u4e00\u4e2a\u540d\u4e3a<code>my_param<\/code>\u7684\u53c2\u6570\u7684\u503c\u4e3a<code>100<\/code>\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">arduinoCopy code<code>rosparam set my_param 100\n<\/code><\/pre>\n\n\n\n<p>\u4f7f\u7528<code>rosparam<\/code>\u547d\u4ee4\u8fd8\u53ef\u4ee5\u4ece\u6587\u4ef6\u4e2d\u8bfb\u53d6\u548c\u5199\u5165ROS\u53c2\u6570\uff0c\u4f8b\u5982\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u4ece\u4e00\u4e2a\u540d\u4e3a<code>my_params.yaml<\/code>\u7684\u6587\u4ef6\u4e2d\u8bfb\u53d6\u53c2\u6570\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">luaCopy code<code>rosparam load my_params.yaml\n<\/code><\/pre>\n\n\n\n<p>\u540c\u65f6\uff0c<code>rosparam<\/code>\u8fd8\u652f\u6301\u5176\u4ed6\u4e00\u4e9b\u547d\u4ee4\uff0c\u5982<code>rosparam get<\/code>\u3001<code>rosparam delete<\/code>\u3001<code>rosparam dump<\/code>\u7b49\u7b49\uff0c\u7528\u4e8e\u83b7\u53d6\u3001\u5220\u9664\u548c\u4fdd\u5b58ROS\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528<code>rosparam<\/code>\u547d\u4ee4\u7ba1\u7406ROS\u53c2\u6570\u65f6\uff0c\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u53c2\u6570\u7684\u547d\u540d\u89c4\u5219\u3001\u6570\u636e\u7c7b\u578b\u548c\u4f5c\u7528\u57df\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u53c2\u6570\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u6b64\u5916\uff0c\u5728\u4f7f\u7528<code>rosparam<\/code>\u547d\u4ee4\u65f6\uff0c\u8fd8\u9700\u8981\u786e\u4fddROS\u53c2\u6570\u670d\u52a1\u5668\u5df2\u7ecf\u542f\u52a8\u5e76\u4e14\u5728\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>rosparam<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u53c2\u6570\u7684\u8bbe\u7f6e\u3001\u83b7\u53d6\u3001\u5220\u9664\u548c\u7ba1\u7406\u529f\u80fd\uff0c\u4e3aROS\u7cfb\u7edf\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u547d\u4ee4\u884c\u5de5\u5177rosbagChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c<code>rosbag<\/code>\u662f\u4e00\u4e2a\u7528\u4e8e\u8bb0\u5f55\u548c\u56de\u653eROS\u4e3b\u9898\u6570\u636e\u7684\u547d\u4ee4\u884c\u5de5\u5177\u3002<code>rosbag<\/code>\u662fROS\u4e2d\u7684\u4e00\u4e2a\u9ad8\u7ea7\u547d\u4ee4\uff0c\u5b83\u53ef\u4ee5\u5c06ROS\u4e3b\u9898\u6570\u636e\u4fdd\u5b58\u4e3a\u4e00\u4e2a\u6216\u591a\u4e2a<code>bag<\/code>\u6587\u4ef6\uff0c\u540c\u65f6\u53ef\u4ee5\u5c06<code>bag<\/code>\u6587\u4ef6\u4e2d\u7684\u6570\u636e\u56de\u653e\u5230ROS\u4e3b\u9898\u4e2d\uff0c\u4ece\u800c\u65b9\u4fbf\u8fdb\u884cROS\u7cfb\u7edf\u7684\u6570\u636e\u8bb0\u5f55\u3001\u56de\u653e\u548c\u5206\u6790\u3002<\/p>\n\n\n\n<p><code>rosbag<\/code>\u547d\u4ee4\u53ef\u4ee5\u7528\u4e8e\u8bb0\u5f55ROS\u4e3b\u9898\u7684\u6570\u636e\uff0c\u4f8b\u5982\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8bb0\u5f55\u4e00\u4e2a\u540d\u4e3a<code>\/robot\/pose<\/code>\u7684\u4e3b\u9898\u6570\u636e\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>rosbag record -O my_data \/robot\/pose\n<\/code><\/pre>\n\n\n\n<p>\u4f7f\u7528<code>rosbag<\/code>\u547d\u4ee4\u8fd8\u53ef\u4ee5\u67e5\u770b\u548c\u8fc7\u6ee4<code>bag<\/code>\u6587\u4ef6\u4e2d\u7684\u6570\u636e\uff0c\u4f8b\u5982\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u4e00\u4e2a\u540d\u4e3a<code>my_data.bag<\/code>\u7684<code>bag<\/code>\u6587\u4ef6\u4e2d\u7684\u6570\u636e\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosbag info my_data.bag\n<\/code><\/pre>\n\n\n\n<p>\u540c\u65f6\uff0c<code>rosbag<\/code>\u8fd8\u652f\u6301\u5176\u4ed6\u4e00\u4e9b\u547d\u4ee4\uff0c\u5982<code>rosbag play<\/code>\u3001<code>rosbag filter<\/code>\u3001<code>rosbag decompress<\/code>\u7b49\u7b49\uff0c\u7528\u4e8e\u56de\u653e<code>bag<\/code>\u6587\u4ef6\u4e2d\u7684\u6570\u636e\u3001\u8fc7\u6ee4\u6570\u636e\u548c\u89e3\u538b\u7f29<code>bag<\/code>\u6587\u4ef6\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528<code>rosbag<\/code>\u547d\u4ee4\u8bb0\u5f55\u548c\u56de\u653eROS\u4e3b\u9898\u6570\u636e\u65f6\uff0c\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u6570\u636e\u7684\u683c\u5f0f\u3001\u5927\u5c0f\u548c\u65f6\u5e8f\uff0c\u4ece\u800c\u4fdd\u8bc1\u6570\u636e\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u6b64\u5916\uff0c\u5728\u4f7f\u7528<code>rosbag<\/code>\u547d\u4ee4\u65f6\uff0c\u8fd8\u9700\u8981\u6ce8\u610f\u78c1\u76d8\u7a7a\u95f4\u548c\u6587\u4ef6\u547d\u540d\u89c4\u5219\u7b49\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c<code>rosbag<\/code>\u662fROS\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u547d\u4ee4\uff0c\u5b83\u63d0\u4f9b\u4e86ROS\u4e3b\u9898\u6570\u636e\u7684\u8bb0\u5f55\u3001\u56de\u653e\u548c\u5206\u6790\u529f\u80fd\uff0c\u4e3aROS\u7cfb\u7edf\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u5fc5\u8981\u7684\u652f\u6301\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u5de5\u4f5c\u7a7a\u95f4\u6982\u5ff5\u53ca\u521b\u5efaChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u5de5\u4f5c\u7a7a\u95f4\uff08Workspace\uff09\u662f\u6307\u4e00\u4e2aROS\u9879\u76ee\u7684\u6839\u76ee\u5f55\uff0c\u5b83\u5305\u542b\u4e86\u6240\u6709\u7684ROS\u5305\u548c\u7f16\u8bd1\u7cfb\u7edf\u7684\u914d\u7f6e\u6587\u4ef6\u3002\u5728\u5de5\u4f5c\u7a7a\u95f4\u4e2d\uff0c\u6bcf\u4e2aROS\u5305\u90fd\u662f\u4e00\u4e2a\u72ec\u7acb\u7684\u5355\u5143\uff0c\u53ef\u4ee5\u5305\u542bROS\u8282\u70b9\u3001ROS\u4e3b\u9898\u3001ROS\u670d\u52a1\u548cROS\u53c2\u6570\u7b49\u7b49\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9ROS\u7cfb\u7edf\u7684\u6a21\u5757\u5316\u8bbe\u8ba1\u548c\u7ec4\u7ec7\u3002<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u6709\u4e24\u79cd\u7c7b\u578b\u7684\u5de5\u4f5c\u7a7a\u95f4\uff0c\u5206\u522b\u662fROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u5de5\u4f5c\u7a7a\u95f4\u3002ROS\u5de5\u4f5c\u7a7a\u95f4\u662fROS\u9879\u76ee\u7684\u6839\u76ee\u5f55\uff0c\u7528\u4e8e\u5b58\u653e\u6240\u6709\u7684ROS\u5305\u548c\u7f16\u8bd1\u7cfb\u7edf\u7684\u914d\u7f6e\u6587\u4ef6\u3002\u5305\u5de5\u4f5c\u7a7a\u95f4\u662fROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u4e00\u4e2a\u5b50\u76ee\u5f55\uff0c\u7528\u4e8e\u5b58\u653e\u4e00\u4e2a\u72ec\u7acb\u7684ROS\u5305\u53ca\u5176\u76f8\u5173\u6587\u4ef6\u3002<\/p>\n\n\n\n<p>\u521b\u5efaROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u5de5\u4f5c\u7a7a\u95f4\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u5de5\u4f5c\u7a7a\u95f4<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_workspace<\/code>\u7684ROS\u5de5\u4f5c\u7a7a\u95f4\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>mkdir -p ~\/my_workspace\/src\ncd ~\/my_workspace\/src\ncatkin_init_workspace\ncd ..\ncatkin_make\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>mkdir<\/code>\u547d\u4ee4\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_workspace<\/code>\u7684\u76ee\u5f55\uff0c<code>src<\/code>\u76ee\u5f55\u7528\u4e8e\u5b58\u653e\u6240\u6709\u7684ROS\u5305\u3002<code>catkin_init_workspace<\/code>\u547d\u4ee4\u7528\u4e8e\u521d\u59cb\u5316ROS\u5de5\u4f5c\u7a7a\u95f4\uff0c\u5e76\u751f\u6210\u4e00\u4e2a\u540d\u4e3a<code>CMakeLists.txt<\/code>\u7684\u6587\u4ef6\u3002<code>catkin_make<\/code>\u547d\u4ee4\u7528\u4e8e\u7f16\u8bd1ROS\u5de5\u4f5c\u7a7a\u95f4\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u521b\u5efaROS\u5305\u5de5\u4f5c\u7a7a\u95f4<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5728ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\/src\ncatkin_create_pkg my_package rospy std_msgs\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_create_pkg<\/code>\u547d\u4ee4\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff0c\u5e76\u6307\u5b9a\u5176\u4f9d\u8d56\u7684ROS\u5e93\uff08\u4f8b\u5982<code>rospy<\/code>\u548c<code>std_msgs<\/code>\uff09\u3002\u521b\u5efa\u6210\u529f\u540e\uff0c\u5728<code>~\/my_workspace\/src<\/code>\u76ee\u5f55\u4e0b\u5c06\u4f1a\u751f\u6210\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684\u76ee\u5f55\uff0c\u5176\u4e2d\u5305\u542b\u4e86ROS\u5305\u7684\u914d\u7f6e\u6587\u4ef6\u548c\u6e90\u4ee3\u7801\u6587\u4ef6\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528ROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u5de5\u4f5c\u7a7a\u95f4\u65f6\uff0c\u8fd8\u9700\u8981\u4ed4\u7ec6\u8003\u8651ROS\u5305\u4e4b\u95f4\u7684\u4f9d\u8d56\u5173\u7cfb\u3001\u7f16\u8bd1\u7cfb\u7edf\u7684\u914d\u7f6e\u548c\u8fd0\u884c\u73af\u5883\u7684\u8bbe\u7f6e\u7b49\u95ee\u9898\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u7cfb\u7edf\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u521b\u5efa\u548c\u7ba1\u7406ROS\u5305ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u5de5\u4f5c\u7a7a\u95f4\uff08Workspace\uff09\u662f\u6307\u4e00\u4e2aROS\u9879\u76ee\u7684\u6839\u76ee\u5f55\uff0c\u5b83\u5305\u542b\u4e86\u6240\u6709\u7684ROS\u5305\u548c\u7f16\u8bd1\u7cfb\u7edf\u7684\u914d\u7f6e\u6587\u4ef6\u3002\u5728\u5de5\u4f5c\u7a7a\u95f4\u4e2d\uff0c\u6bcf\u4e2aROS\u5305\u90fd\u662f\u4e00\u4e2a\u72ec\u7acb\u7684\u5355\u5143\uff0c\u53ef\u4ee5\u5305\u542bROS\u8282\u70b9\u3001ROS\u4e3b\u9898\u3001ROS\u670d\u52a1\u548cROS\u53c2\u6570\u7b49\u7b49\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9ROS\u7cfb\u7edf\u7684\u6a21\u5757\u5316\u8bbe\u8ba1\u548c\u7ec4\u7ec7\u3002<\/p>\n\n\n\n<p>\u521b\u5efa\u548c\u7ba1\u7406ROS\u5305\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u5305<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5728ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\/src\ncatkin_create_pkg my_package rospy std_msgs\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_create_pkg<\/code>\u547d\u4ee4\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff0c\u5e76\u6307\u5b9a\u5176\u4f9d\u8d56\u7684ROS\u5e93\uff08\u4f8b\u5982<code>rospy<\/code>\u548c<code>std_msgs<\/code>\uff09\u3002\u521b\u5efa\u6210\u529f\u540e\uff0c\u5728<code>~\/my_workspace\/src<\/code>\u76ee\u5f55\u4e0b\u5c06\u4f1a\u751f\u6210\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684\u76ee\u5f55\uff0c\u5176\u4e2d\u5305\u542b\u4e86ROS\u5305\u7684\u914d\u7f6e\u6587\u4ef6\u548c\u6e90\u4ee3\u7801\u6587\u4ef6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u6dfb\u52a0ROS\u8282\u70b9\u3001\u4e3b\u9898\u3001\u670d\u52a1\u548c\u53c2\u6570<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u5305\u4e2d\uff0c\u53ef\u4ee5\u901a\u8fc7\u7f16\u5199ROS\u8282\u70b9\u3001\u4e3b\u9898\u3001\u670d\u52a1\u548c\u53c2\u6570\u7b49\u4ee3\u7801\u5b9e\u73b0ROS\u7cfb\u7edf\u7684\u5404\u79cd\u529f\u80fd\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u5728<code>my_package<\/code>\u76ee\u5f55\u4e0b\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_node.py<\/code>\u7684Python\u811a\u672c\uff0c\u5b9e\u73b0\u4e00\u4e2aROS\u8282\u70b9\uff0c\u8be5\u8282\u70b9\u53ef\u4ee5\u8ba2\u9605<code>\/robot\/pose<\/code>\u4e3b\u9898\u5e76\u53d1\u5e03<code>\/robot\/move<\/code>\u4e3b\u9898\u3002\u540c\u65f6\uff0c\u8fd8\u53ef\u4ee5\u5728<code>my_package<\/code>\u76ee\u5f55\u4e0b\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_service.srv<\/code>\u7684ROS\u670d\u52a1\u5b9a\u4e49\u6587\u4ef6\uff0c\u5b9a\u4e49\u4e00\u4e2a\u540d\u4e3a<code>move_robot<\/code>\u7684\u670d\u52a1\uff0c\u8be5\u670d\u52a1\u53ef\u4ee5\u63a5\u6536\u4e00\u4e2a<code>x<\/code>\u548c<code>y<\/code>\u5750\u6807\uff0c\u5e76\u8fd4\u56de\u4e00\u4e2a\u6210\u529f\u6216\u5931\u8d25\u7684\u72b6\u6001\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u7f16\u8bd1ROS\u5305<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u6dfb\u52a0\u5b8cROS\u8282\u70b9\u3001\u4e3b\u9898\u3001\u670d\u52a1\u548c\u53c2\u6570\u7b49\u4ee3\u7801\u540e\uff0c\u9700\u8981\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u7f16\u8bd1ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\ncatkin_make\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_make<\/code>\u547d\u4ee4\u7528\u4e8e\u7f16\u8bd1ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u6240\u6709ROS\u5305\uff0c\u4ece\u800c\u751f\u6210ROS\u8282\u70b9\u548cROS\u5e93\u7b49\u53ef\u6267\u884c\u6587\u4ef6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>\u8fd0\u884cROS\u8282\u70b9\u548c\u670d\u52a1<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u7f16\u8bd1\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8fd0\u884cROS\u8282\u70b9\u548c\u670d\u52a1\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>rosrun my_package my_node.py\nrosservice call \/my_service\/move_robot \"x: 1.0, y: 2.0\"\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>rosrun<\/code>\u547d\u4ee4\u7528\u4e8e\u8fd0\u884c\u540d\u4e3a<code>my_node.py<\/code>\u7684ROS\u8282\u70b9\uff0c<code>rosservice call<\/code>\u547d\u4ee4\u7528\u4e8e\u8c03\u7528\u540d\u4e3a<code>\/my_service\/move_robot<\/code>\u7684ROS\u670d\u52a1\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u521b\u5efa\u548c\u7ba1\u7406ROS\u5305\u65f6\uff0c\u8fd8\u9700\u8981\u4ed4\u7ec6\u8003\u8651ROS\u5305\u4e4b\u95f4\u7684\u4f9d\u8d56\u5173\u7cfb\u3001\u7f16\u8bd1\u7cfb\u7edf\u7684\u914d\u7f6e\u548c\u8fd0\u884c\u73af\u5883\u7684\u8bbe\u7f6e\u7b49\u95ee\u9898\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u7cfb\u7edf\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u7f16\u5199\u548c\u8fd0\u884cPython\u8282\u70b9ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0cPython\u662f\u4e00\u4e2a\u5e38\u7528\u7684\u7f16\u7a0b\u8bed\u8a00\uff0c\u53ef\u4ee5\u7528\u4e8e\u7f16\u5199ROS\u8282\u70b9\u3001\u670d\u52a1\u548c\u53c2\u6570\u7b49\u3002\u7f16\u5199\u548c\u8fd0\u884cPython\u8282\u70b9\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u5305<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5728ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\/src\ncatkin_create_pkg my_package rospy std_msgs\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_create_pkg<\/code>\u547d\u4ee4\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff0c\u5e76\u6307\u5b9a\u5176\u4f9d\u8d56\u7684ROS\u5e93\uff08\u4f8b\u5982<code>rospy<\/code>\u548c<code>std_msgs<\/code>\uff09\u3002\u521b\u5efa\u6210\u529f\u540e\uff0c\u5728<code>~\/my_workspace\/src<\/code>\u76ee\u5f55\u4e0b\u5c06\u4f1a\u751f\u6210\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684\u76ee\u5f55\uff0c\u5176\u4e2d\u5305\u542b\u4e86ROS\u5305\u7684\u914d\u7f6e\u6587\u4ef6\u548c\u6e90\u4ee3\u7801\u6587\u4ef6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u7f16\u5199Python\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u5728<code>my_package<\/code>\u76ee\u5f55\u4e0b\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_node.py<\/code>\u7684Python\u811a\u672c\uff0c\u4f8b\u5982\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">pythonCopy code<code>#!\/usr\/bin\/env python\n\nimport rospy\nfrom std_msgs.msg import String\n\ndef callback(data):\n    rospy.loginfo(rospy.get_caller_id() + \"I heard %s\", data.data)\n\ndef listener():\n    rospy.init_node('listener', anonymous=True)\n    rospy.Subscriber(\"chatter\", String, callback)\n    rospy.spin()\n\nif __name__ == '__main__':\n    listener()\n<\/code><\/pre>\n\n\n\n<p>\u8be5\u811a\u672c\u5b9e\u73b0\u4e86\u4e00\u4e2aROS\u8282\u70b9\uff0c\u8ba2\u9605\u540d\u4e3a<code>chatter<\/code>\u7684\u4e3b\u9898\uff0c\u5e76\u5728\u63a5\u6536\u5230\u6570\u636e\u65f6\u6253\u5370\u5230\u63a7\u5236\u53f0\u4e2d\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u4fee\u6539ROS\u5305\u914d\u7f6e\u6587\u4ef6<\/li>\n<\/ol>\n\n\n\n<p>\u5728<code>my_package<\/code>\u76ee\u5f55\u4e0b\u627e\u5230<code>package.xml<\/code>\u6587\u4ef6\uff0c\u6dfb\u52a0\u4ee5\u4e0b\u5185\u5bb9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">xmlCopy code<code>&lt;build_depend&gt;python-catkin-pkg-modules&lt;\/build_depend&gt;\n&lt;exec_depend&gt;python-catkin-pkg-modules&lt;\/exec_depend&gt;\n&lt;buildtool_depend&gt;catkin&lt;\/buildtool_depend&gt;\n<\/code><\/pre>\n\n\n\n<p>\u8fd9\u4e9b\u914d\u7f6e\u7528\u4e8e\u544a\u8bc9ROS\u7f16\u8bd1\u7cfb\u7edf\uff0c\u8be5ROS\u5305\u9700\u8981\u4f7f\u7528Python\u7f16\u5199\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>\u7f16\u8bd1ROS\u5305<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u5b8c\u6210Python\u8282\u70b9\u7684\u7f16\u5199\u540e\uff0c\u9700\u8981\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u7f16\u8bd1ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\ncatkin_make\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_make<\/code>\u547d\u4ee4\u7528\u4e8e\u7f16\u8bd1ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u6240\u6709ROS\u5305\uff0c\u4ece\u800c\u751f\u6210ROS\u8282\u70b9\u548cROS\u5e93\u7b49\u53ef\u6267\u884c\u6587\u4ef6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>\u8fd0\u884cPython\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u7f16\u8bd1\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8fd0\u884cPython\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosrun my_package my_node.py\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>rosrun<\/code>\u547d\u4ee4\u7528\u4e8e\u8fd0\u884c\u540d\u4e3a<code>my_node.py<\/code>\u7684ROS\u8282\u70b9\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u7f16\u5199\u548c\u8fd0\u884cPython\u8282\u70b9\u65f6\uff0c\u8fd8\u9700\u8981\u4ed4\u7ec6\u8003\u8651ROS\u8282\u70b9\u7684\u903b\u8f91\u3001\u4e3b\u9898\u548c\u670d\u52a1\u7684\u6570\u636e\u7c7b\u578b\u7b49\u95ee\u9898\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u7cfb\u7edf\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u540c\u65f6\uff0c\u9700\u8981\u719f\u6089ROS\u7684Python API\uff0c\u4ee5\u4fbf\u66f4\u597d\u5730\u5f00\u53d1\u548c\u8c03\u8bd5Python\u8282\u70b9\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u7f16\u5199\u548c\u8fd0\u884cC++\u8282\u70b9ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0cC++\u662f\u4e00\u4e2a\u5e38\u7528\u7684\u7f16\u7a0b\u8bed\u8a00\uff0c\u53ef\u4ee5\u7528\u4e8e\u7f16\u5199ROS\u8282\u70b9\u3001\u670d\u52a1\u548c\u53c2\u6570\u7b49\u3002\u7f16\u5199\u548c\u8fd0\u884cC++\u8282\u70b9\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u5305<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5728ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\/src\ncatkin_create_pkg my_package roscpp std_msgs\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_create_pkg<\/code>\u547d\u4ee4\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684ROS\u5305\uff0c\u5e76\u6307\u5b9a\u5176\u4f9d\u8d56\u7684ROS\u5e93\uff08\u4f8b\u5982<code>roscpp<\/code>\u548c<code>std_msgs<\/code>\uff09\u3002\u521b\u5efa\u6210\u529f\u540e\uff0c\u5728<code>~\/my_workspace\/src<\/code>\u76ee\u5f55\u4e0b\u5c06\u4f1a\u751f\u6210\u4e00\u4e2a\u540d\u4e3a<code>my_package<\/code>\u7684\u76ee\u5f55\uff0c\u5176\u4e2d\u5305\u542b\u4e86ROS\u5305\u7684\u914d\u7f6e\u6587\u4ef6\u548c\u6e90\u4ee3\u7801\u6587\u4ef6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u7f16\u5199C++\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u5728<code>my_package<\/code>\u76ee\u5f55\u4e0b\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_node.cpp<\/code>\u7684C++\u6e90\u4ee3\u7801\u6587\u4ef6\uff0c\u4f8b\u5982\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n#include \"std_msgs\/String.h\"\n\nvoid chatterCallback(const std_msgs::String::ConstPtr&amp; msg)\n{\n  ROS_INFO(\"I heard: [%s]\", msg-&gt;data.c_str());\n}\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"listener\");\n  ros::NodeHandle n;\n  ros::Subscriber sub = n.subscribe(\"chatter\", 1000, chatterCallback);\n  ros::spin();\n\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<p>\u8be5\u4ee3\u7801\u5b9e\u73b0\u4e86\u4e00\u4e2aROS\u8282\u70b9\uff0c\u8ba2\u9605\u540d\u4e3a<code>chatter<\/code>\u7684\u4e3b\u9898\uff0c\u5e76\u5728\u63a5\u6536\u5230\u6570\u636e\u65f6\u6253\u5370\u5230\u63a7\u5236\u53f0\u4e2d\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u4fee\u6539ROS\u5305\u914d\u7f6e\u6587\u4ef6<\/li>\n<\/ol>\n\n\n\n<p>\u5728<code>my_package<\/code>\u76ee\u5f55\u4e0b\u627e\u5230<code>CMakeLists.txt<\/code>\u6587\u4ef6\uff0c\u6dfb\u52a0\u4ee5\u4e0b\u5185\u5bb9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cmakeCopy code<code>find_package(catkin REQUIRED COMPONENTS\n  roscpp\n  std_msgs\n)\n\ncatkin_package()\n\ninclude_directories(\n  ${catkin_INCLUDE_DIRS}\n)\n\nadd_executable(my_node src\/my_node.cpp)\ntarget_link_libraries(my_node ${catkin_LIBRARIES})\n\ninstall(TARGETS my_node\n  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n)\n<\/code><\/pre>\n\n\n\n<p>\u8fd9\u4e9b\u914d\u7f6e\u7528\u4e8e\u544a\u8bc9ROS\u7f16\u8bd1\u7cfb\u7edf\uff0c\u8be5ROS\u5305\u9700\u8981\u4f7f\u7528C++\u7f16\u5199\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>\u7f16\u8bd1ROS\u5305<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u5b8c\u6210C++\u8282\u70b9\u7684\u7f16\u5199\u540e\uff0c\u9700\u8981\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u7f16\u8bd1ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\ncatkin_make\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_make<\/code>\u547d\u4ee4\u7528\u4e8e\u7f16\u8bd1ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u6240\u6709ROS\u5305\uff0c\u4ece\u800c\u751f\u6210ROS\u8282\u70b9\u548cROS\u5e93\u7b49\u53ef\u6267\u884c\u6587\u4ef6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>\u8fd0\u884cC++\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u7f16\u8bd1\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8fd0\u884cC++\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosrun my_package my_node\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>rosrun<\/code>\u547d\u4ee4\u7528\u4e8e\u8fd0\u884c\u540d\u4e3a<code>my_node<\/code>\u7684ROS\u8282\u70b9\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u7f16\u5199\u548c\u8fd0\u884cC++\u8282\u70b9\u65f6\uff0c\u8fd8\u9700\u8981\u4ed4\u7ec6\u8003\u8651ROS\u8282\u70b9\u7684\u903b\u8f91\u3001\u4e3b\u9898\u548c\u670d\u52a1\u7684\u6570\u636e\u7c7b\u578b\u7b49\u95ee\u9898\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u7cfb\u7edf\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u540c\u65f6\uff0c\u9700\u8981\u719f\u6089ROS\u7684C++ API\uff0c\u4ee5\u4fbf\u66f4\u597d\u5730\u5f00\u53d1\u548c\u8c03\u8bd5C++\u8282\u70b9\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6d88\u606f\u548c\u901a\u4fe1\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578bChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u6d88\u606f\uff08Message\uff09\u662f\u4e00\u79cd\u7528\u4e8e\u8282\u70b9\u4e4b\u95f4\u901a\u4fe1\u7684\u6570\u636e\u7c7b\u578b\u3002ROS\u63d0\u4f9b\u4e86\u8bb8\u591a\u6807\u51c6\u6d88\u606f\u7c7b\u578b\uff0c\u4f8b\u5982<code>std_msgs\/String<\/code>\u3001<code>geometry_msgs\/Pose<\/code>\u548c<code>sensor_msgs\/Image<\/code>\u7b49\u3002\u540c\u65f6\uff0cROS\u8fd8\u652f\u6301\u7528\u6237\u81ea\u5b9a\u4e49\u7684\u6d88\u606f\u7c7b\u578b\uff0c\u4ee5\u6ee1\u8db3\u4e0d\u540c\u5e94\u7528\u573a\u666f\u7684\u9700\u6c42\u3002<\/p>\n\n\n\n<p>\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u521b\u5efa\u548c\u4f7f\u7528\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efa\u6d88\u606f\u7c7b\u578b\u5b9a\u4e49\u6587\u4ef6<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u5305\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>msg<\/code>\u7684\u76ee\u5f55\uff0c\u7528\u4e8e\u5b58\u653e\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u5b9a\u4e49\u6587\u4ef6\u3002\u5728<code>msg<\/code>\u76ee\u5f55\u4e0b\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>MyMessage.msg<\/code>\u7684\u6587\u4ef6\uff0c\u5b9a\u4e49\u81ea\u5df1\u7684\u6d88\u606f\u7c7b\u578b\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u5b9a\u4e49\u4e00\u4e2a\u5305\u542b<code>name<\/code>\u548c<code>age<\/code>\u4e24\u4e2a\u5b57\u6bb5\u7684\u6d88\u606f\u7c7b\u578b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">goCopy code<code>string name\nint32 age\n<\/code><\/pre>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u7f16\u5199C++\u6216Python\u6d88\u606f\u4ee3\u7801<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u5305\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>src<\/code>\u7684\u76ee\u5f55\uff0c\u7528\u4e8e\u5b58\u653eC++\u6216Python\u6d88\u606f\u4ee3\u7801\u3002\u5728<code>src<\/code>\u76ee\u5f55\u4e0b\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>talker.cpp<\/code>\uff08\u6216<code>talker.py<\/code>\uff09\u7684\u6587\u4ef6\uff0c\u7528\u4e8e\u53d1\u5e03\u81ea\u5b9a\u4e49\u6d88\u606f\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u53d1\u5e03\u81ea\u5b9a\u4e49\u6d88\u606f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n#include \"my_package\/MyMessage.h\"\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"talker\");\n  ros::NodeHandle n;\n  ros::Publisher chatter_pub = n.advertise&lt;my_package::MyMessage&gt;(\"my_topic\", 1000);\n  ros::Rate loop_rate(10);\n  int count = 0;\n  while (ros::ok())\n  {\n    my_package::MyMessage msg;\n    msg.name = \"John\";\n    msg.age = count++;\n    chatter_pub.publish(msg);\n    ros::spinOnce();\n    loop_rate.sleep();\n  }\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<p>\u8be5\u4ee3\u7801\u5b9e\u73b0\u4e86\u4e00\u4e2aROS\u8282\u70b9\uff0c\u53d1\u5e03\u4e00\u4e2a\u540d\u4e3a<code>my_topic<\/code>\u7684\u4e3b\u9898\uff0c\u6bcf\u79d2\u949f\u53d1\u5e03\u4e00\u4e2a\u5305\u542b<code>name<\/code>\u548c<code>age<\/code>\u4e24\u4e2a\u5b57\u6bb5\u7684\u81ea\u5b9a\u4e49\u6d88\u606f\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u7f16\u8bd1ROS\u5305<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u5b8c\u6210\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u548c\u53d1\u5e03\u4ee3\u7801\u7684\u7f16\u5199\u540e\uff0c\u9700\u8981\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u7f16\u8bd1ROS\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>cd ~\/my_workspace\ncatkin_make\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>catkin_make<\/code>\u547d\u4ee4\u7528\u4e8e\u7f16\u8bd1ROS\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u6240\u6709ROS\u5305\uff0c\u4ece\u800c\u751f\u6210ROS\u8282\u70b9\u548cROS\u5e93\u7b49\u53ef\u6267\u884c\u6587\u4ef6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u65f6\uff0c\u9700\u8981\u5728\u8282\u70b9\u4e2d\u5305\u542b\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u5934\u6587\u4ef6\uff0c\u5e76\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u540d\u79f0\u4f5c\u4e3a\u4e3b\u9898\u7c7b\u578b\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u8ba2\u9605\u5305\u542b<code>name<\/code>\u548c<code>age<\/code>\u4e24\u4e2a\u5b57\u6bb5\u7684\u81ea\u5b9a\u4e49\u6d88\u606f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n#include \"my_package\/MyMessage.h\"\n\nvoid chatterCallback(const my_package::MyMessage::ConstPtr&amp; msg)\n{\n  ROS_INFO(\"I heard: [%s, %d]\", msg-&gt;name.c_str(), msg-&gt;age);\n}\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"listener\");\n  ros::NodeHandle n;\n  ros::Subscriber sub = n.subscribe(\"my_topic\", 1000, chatterCallback);\n  ros::spin();\n\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u521b\u5efa\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u65f6\uff0c\u8fd8\u9700\u8981\u4ed4\u7ec6\u8003\u8651<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u683c\u5f0f\u548c\u8bed\u6cd5\u89c4\u5219\uff0c\u4ee5\u4fdd\u8bc1\u5176\u4e0eROS\u7cfb\u7edf\u7684\u517c\u5bb9\u6027\u3002\u5177\u4f53\u800c\u8a00\uff0c\u9700\u8981\u9075\u5faa\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u5fc5\u987b\u5b58\u653e\u5728<code>msg<\/code>\u76ee\u5f55\u4e2d\uff0c\u5e76\u4ee5<code>.msg<\/code>\u4f5c\u4e3a\u6587\u4ef6\u6269\u5c55\u540d\u3002<\/li>\n\n\n\n<li>\u6bcf\u4e2a\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u5fc5\u987b\u6709\u4e00\u4e2a\u552f\u4e00\u7684\u540d\u79f0\uff0c\u5e76\u5305\u542b\u4e00\u4e2a\u6216\u591a\u4e2a\u5b57\u6bb5\u3002\u5b57\u6bb5\u7684\u683c\u5f0f\u4e3a<code>\u6570\u636e\u7c7b\u578b \u5b57\u6bb5\u540d\u79f0<\/code>\uff0c\u4f8b\u5982<code>string name<\/code>\u548c<code>int32 age<\/code>\u3002<\/li>\n\n\n\n<li>\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u540d\u79f0\u5fc5\u987b\u9075\u5faaROS\u547d\u540d\u89c4\u5219\uff0c\u5373\u7531\u5c0f\u5199\u5b57\u6bcd\u3001\u6570\u5b57\u548c\u4e0b\u5212\u7ebf\u7ec4\u6210\uff0c\u5e76\u4ee5\u5b57\u6bcd\u5f00\u5934\u3002<\/li>\n\n\n\n<li>\u5b57\u6bb5\u540d\u79f0\u548c\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u540d\u79f0\u5fc5\u987b\u4f7f\u7528\u9a7c\u5cf0\u547d\u540d\u6cd5\uff0c\u5373\u7b2c\u4e00\u4e2a\u5355\u8bcd\u5c0f\u5199\uff0c\u540e\u7eed\u5355\u8bcd\u9996\u5b57\u6bcd\u5927\u5199\uff0c\u4f8b\u5982<code>firstName<\/code>\u548c<code>phoneNumber<\/code>\u3002<\/li>\n\n\n\n<li>\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u4e2d\u652f\u6301\u7684\u6570\u636e\u7c7b\u578b\u5305\u62ec\u5e03\u5c14\u578b\u3001\u6574\u578b\u3001\u6d6e\u70b9\u578b\u3001\u5b57\u7b26\u4e32\u578b\u3001\u6570\u7ec4\u578b\u548c\u5d4c\u5957\u6d88\u606f\u7c7b\u578b\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5728\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u65f6\uff0c\u8fd8\u9700\u8981\u5728ROS\u5305\u7684<code>CMakeLists.txt<\/code>\u6587\u4ef6\u4e2d\u6dfb\u52a0\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u7f16\u8bd1\u548c\u5b89\u88c5\u89c4\u5219\uff0c\u4ee5\u786e\u4fdd\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u80fd\u591f\u88ab\u6b63\u786e\u7f16\u8bd1\u548c\u4f7f\u7528\u3002\u5177\u4f53\u800c\u8a00\uff0c\u9700\u8981\u6dfb\u52a0\u4ee5\u4e0b\u5185\u5bb9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cmakeCopy code<code>add_message_files(\n  FILES\n  MyMessage.msg\n)\n\ngenerate_messages(\n  DEPENDENCIES\n  std_msgs\n)\n\ncatkin_package(\n  CATKIN_DEPENDS message_runtime\n)\n\ninclude_directories(\n  ${catkin_INCLUDE_DIRS}\n)\n\nadd_executable(talker src\/talker.cpp)\ntarget_link_libraries(talker ${catkin_LIBRARIES})\nadd_dependencies(talker ${my_package_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\n\nadd_executable(listener src\/listener.cpp)\ntarget_link_libraries(listener ${catkin_LIBRARIES})\nadd_dependencies(listener ${my_package_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>add_message_files<\/code>\u7528\u4e8e\u6dfb\u52a0\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u5b9a\u4e49\u6587\u4ef6\uff0c<code>generate_messages<\/code>\u7528\u4e8e\u751f\u6210\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u5934\u6587\u4ef6\u548c\u6e90\u6587\u4ef6\uff0c<code>catkin_package<\/code>\u7528\u4e8e\u6307\u5b9a\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u4f9d\u8d56\u9879\u548c\u5b89\u88c5\u89c4\u5219\uff0c<code>add_executable<\/code>\u7528\u4e8e\u6dfb\u52a0ROS\u8282\u70b9\u7684\u6e90\u4ee3\u7801\u6587\u4ef6\uff0c<code>target_link_libraries<\/code>\u7528\u4e8e\u94fe\u63a5ROS\u5e93\uff0c<code>add_dependencies<\/code>\u7528\u4e8e\u6dfb\u52a0ROS\u8282\u70b9\u7684\u4f9d\u8d56\u9879\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u65f6\uff0c\u8fd8\u9700\u8981\u4ed4\u7ec6\u8003\u8651\u6d88\u606f\u7c7b\u578b\u7684\u5b57\u6bb5\u5b9a\u4e49\u548c\u6570\u636e\u683c\u5f0f\u7b49\u95ee\u9898\uff0c\u4ece\u800c\u4fdd\u8bc1ROS\u7cfb\u7edf\u7684\u6b63\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u540c\u65f6\uff0c\u9700\u8981\u719f\u6089ROS\u7684C++\u548cPython API\uff0c\u4ee5\u4fbf\u66f4\u597d\u5730\u5f00\u53d1\u548c\u8c03\u8bd5\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u53d1\u5e03\u548c\u8ba2\u9605\u8282\u70b9\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6d88\u606f\u548c\u901a\u4fe1\u53d1\u5e03\u548c\u8ba2\u9605\u4e3b\u9898ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\uff08Robot Operating System\uff09\u4e2d\uff0c\u6d88\u606f\uff08Message\uff09\u662f\u8282\u70b9\u4e4b\u95f4\u8fdb\u884c\u901a\u4fe1\u7684\u57fa\u672c\u5355\u4f4d\uff0c\u800c\u4e3b\u9898\uff08Topic\uff09\u5219\u662fROS\u6d88\u606f\u901a\u4fe1\u7684\u6700\u5e38\u89c1\u65b9\u5f0f\u4e4b\u4e00\u3002\u53d1\u5e03\uff08Publish\uff09\u548c\u8ba2\u9605\uff08Subscribe\uff09\u662fROS\u4e3b\u9898\u901a\u4fe1\u7684\u4e24\u79cd\u57fa\u672c\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u53d1\u5e03\u8005\uff08Publisher\uff09\u5c06\u6d88\u606f\u53d1\u5e03\u5230\u4e00\u4e2a\u7279\u5b9a\u7684\u4e3b\u9898\u4e0a\uff0c\u800c\u8ba2\u9605\u8005\uff08Subscriber\uff09\u4ece\u8be5\u4e3b\u9898\u4e0a\u8ba2\u9605\u6d88\u606f\u3002\u5f53\u53d1\u5e03\u8005\u53d1\u5e03\u6d88\u606f\u65f6\uff0c\u8ba2\u9605\u8005\u4f1a\u81ea\u52a8\u63a5\u6536\u5230\u8be5\u6d88\u606f\u5e76\u6267\u884c\u76f8\u5e94\u7684\u64cd\u4f5c\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u591a\u4e2a\u8282\u70b9\u53ef\u4ee5\u901a\u8fc7\u4e3b\u9898\u8fdb\u884c\u6d88\u606f\u4f20\u9012\uff0c\u4ece\u800c\u5b9e\u73b0\u534f\u540c\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p>ROS\u4e3b\u9898\u901a\u4fe1\u7684\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528ROS\u7684C++\u6216Python API\u521b\u5efa\u4e00\u4e2aROS\u8282\u70b9\uff0c\u5e76\u8fdb\u884c\u521d\u59cb\u5316\u64cd\u4f5c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>talker<\/code>\u7684\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"talker\");\n  ros::NodeHandle n;\n  ...\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u521b\u5efaROS\u4e3b\u9898<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u8282\u70b9\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_topic<\/code>\u7684\u4e3b\u9898\uff0c\u7528\u4e8e\u53d1\u5e03\u548c\u8ba2\u9605\u6d88\u606f\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>chatter_pub<\/code>\u7684\u53d1\u5e03\u8005\u548c\u4e00\u4e2a\u540d\u4e3a<code>chatter_sub<\/code>\u7684\u8ba2\u9605\u8005\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>ros::Publisher chatter_pub = n.advertise&lt;std_msgs::String&gt;(\"my_topic\", 1000);\nros::Subscriber chatter_sub = n.subscribe(\"my_topic\", 1000, chatterCallback);\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>advertise<\/code>\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u53d1\u5e03\u8005\uff0c\u6307\u5b9a\u53d1\u5e03\u7684\u6d88\u606f\u7c7b\u578b\u4e3a<code>std_msgs::String<\/code>\uff0c\u4e3b\u9898\u540d\u79f0\u4e3a<code>my_topic<\/code>\uff0c\u961f\u5217\u957f\u5ea6\u4e3a1000\u3002<code>subscribe<\/code>\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\uff0c\u6307\u5b9a\u8ba2\u9605\u7684\u4e3b\u9898\u540d\u79f0\u4e3a<code>my_topic<\/code>\uff0c\u961f\u5217\u957f\u5ea6\u4e3a1000\uff0c\u5e76\u6307\u5b9a\u63a5\u6536\u5230\u6d88\u606f\u65f6\u7684\u56de\u8c03\u51fd\u6570<code>chatterCallback<\/code>\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u53d1\u5e03ROS\u6d88\u606f<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u53d1\u5e03\u8005\u5c06\u6d88\u606f\u53d1\u5e03\u5230\u4e3b\u9898\u4e0a\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u53d1\u5e03\u4e00\u4e2a\u5b57\u7b26\u4e32\u6d88\u606f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>std_msgs::String msg;\nmsg.data = \"Hello, world!\";\nchatter_pub.publish(msg);\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>msg<\/code>\u662f\u4e00\u4e2a<code>std_msgs::String<\/code>\u7c7b\u578b\u7684\u6d88\u606f\u5bf9\u8c61\uff0c\u5c06\u5176\u6570\u636e\u5b57\u6bb5\u8bbe\u7f6e\u4e3a<code>\"Hello, world!\"<\/code>\uff0c\u5e76\u4f7f\u7528<code>publish<\/code>\u65b9\u6cd5\u5c06\u5176\u53d1\u5e03\u5230\u4e3b\u9898<code>my_topic<\/code>\u4e0a\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>\u8ba2\u9605ROS\u6d88\u606f<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u8ba2\u9605\u8005\u63a5\u6536\u4e3b\u9898\u4e0a\u53d1\u5e03\u7684\u6d88\u606f\uff0c\u5e76\u6267\u884c\u76f8\u5e94\u7684\u64cd\u4f5c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u5b9a\u4e49\u4e00\u4e2a\u56de\u8c03\u51fd\u6570<code>chatterCallback<\/code>\uff0c\u7528\u4e8e\u63a5\u6536\u5e76\u6253\u5370\u4e3b\u9898\u4e0a\u53d1\u5e03\u7684\u6d88\u606f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>void chatterCallback(const std_msgs::String::ConstPtr&amp; msg)\n{\n  ROS_INFO(\"I heard: [%s]\", msg-&gt;data.c_str());\n}\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>msg<\/code>\u662f\u4e00\u4e2a<code>std_msgs::String<\/code>\u7c7b\u578b\u7684\u6d88\u606f\u5bf9\u8c61\u6307\u9488\uff0c\u901a\u8fc7<code>data<\/code>\u5b57\u6bb5\u83b7\u53d6\u6d88\u606f\u7684\u5b57\u7b26\u4e32\u6570\u636e\uff0c\u5e76\u6253\u5370\u5230\u63a7\u5236\u53f0\u4e0a\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>\u8fd0\u884cROS\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u5b8c\u6210\u4e3b\u9898\u521b\u5efa\u3001\u6d88\u606f\u53d1\u5e03\u548c\u8ba2\u9605\u7b49\u64cd\u4f5c\u540e\uff0c\u9700\u8981\u8fd0\u884cROS\u8282\u70b9\u4ee5\u4f7f\u5176\u751f\u6548\u3002\u4f8b\u5982<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8fd0\u884cROS\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosrun my_package talker\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>my_package<\/code>\u662fROS\u5305\u7684\u540d\u79f0\uff0c<code>talker<\/code>\u662f\u8282\u70b9\u7684\u540d\u79f0\u3002\u8fd0\u884c\u8be5\u547d\u4ee4\u540e\uff0c\u8282\u70b9\u4f1a\u81ea\u52a8\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_topic<\/code>\u7684\u4e3b\u9898\uff0c\u5e76\u5c06\u5b57\u7b26\u4e32\u6d88\u606f<code>\"Hello, world!\"<\/code>\u53d1\u5e03\u5230\u8be5\u4e3b\u9898\u4e0a\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"6\">\n<li>\u76d1\u542cROS\u4e3b\u9898<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528<code>rostopic<\/code>\u547d\u4ee4\u884c\u5de5\u5177\u76d1\u542c\u4e3b\u9898\u4e0a\u53d1\u5e03\u7684\u6d88\u606f\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u76d1\u542c\u4e3b\u9898<code>my_topic<\/code>\u4e0a\u7684\u5b57\u7b26\u4e32\u6d88\u606f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>rostopic echo my_topic\n<\/code><\/pre>\n\n\n\n<p>\u8be5\u547d\u4ee4\u4f1a\u6253\u5370\u6240\u6709\u4ece\u4e3b\u9898<code>my_topic<\/code>\u4e0a\u63a5\u6536\u5230\u7684\u5b57\u7b26\u4e32\u6d88\u606f\uff0c\u4ee5\u53ca\u5176\u65f6\u95f4\u6233\u548c\u53d1\u5e03\u8005\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528ROS\u4e3b\u9898\u8fdb\u884c\u6d88\u606f\u901a\u4fe1\u65f6\uff0c\u8fd8\u9700\u8981\u6ce8\u610f\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u5fc5\u987b\u4f7f\u7528\u76f8\u540c\u7684\u6d88\u606f\u7c7b\u578b\u548c\u4e3b\u9898\u540d\u79f0\uff0c\u624d\u80fd\u8fdb\u884c\u6b63\u786e\u7684\u901a\u4fe1\u3002<\/li>\n\n\n\n<li>\u6d88\u606f\u7c7b\u578b\u5fc5\u987b\u7b26\u5408ROS\u89c4\u8303\uff0c\u5e76\u4e14\u53ef\u4ee5\u88ab\u6240\u6709\u8282\u70b9\u6b63\u786e\u89e3\u6790\u548c\u5904\u7406\u3002<\/li>\n\n\n\n<li>\u4e3b\u9898\u540d\u79f0\u5fc5\u987b\u7b26\u5408ROS\u547d\u540d\u89c4\u8303\uff0c\u5e76\u4e14\u4e0d\u80fd\u4e0e\u5176\u4ed6\u8282\u70b9\u7684\u4e3b\u9898\u540d\u79f0\u91cd\u590d\u3002<\/li>\n\n\n\n<li>\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u4e4b\u95f4\u7684\u901a\u4fe1\u662f\u5f02\u6b65\u7684\uff0c\u9700\u8981\u5904\u7406\u6d88\u606f\u4e22\u5931\u3001\u6d88\u606f\u91cd\u590d\u7b49\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u4e3b\u9898\u7684\u961f\u5217\u957f\u5ea6\u5e94\u6839\u636e\u5b9e\u9645\u9700\u6c42\u8fdb\u884c\u8bbe\u7f6e\uff0c\u4ee5\u9632\u6b62\u6d88\u606f\u4e22\u5931\u6216\u961f\u5217\u6ea2\u51fa\u7b49\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u9664\u4e86\u4f7f\u7528<code>rostopic<\/code>\u547d\u4ee4\u884c\u5de5\u5177\u4e4b\u5916\uff0c\u8fd8\u53ef\u4ee5\u4f7f\u7528\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u5bf9ROS\u4e3b\u9898\u8fdb\u884c\u66f4\u9ad8\u7ea7\u7684\u64cd\u4f5c\u548c\u5206\u6790\uff0c\u4f8b\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>rqt_topic<\/code>\uff1a\u7528\u4e8e\u53ef\u89c6\u5316ROS\u4e3b\u9898\u7684\u6d88\u606f\u53d1\u5e03\u548c\u8ba2\u9605\u60c5\u51b5\uff0c\u4ee5\u53ca\u6d88\u606f\u5185\u5bb9\u7684\u5b9e\u65f6\u66f4\u65b0\u548c\u663e\u793a\u3002<\/li>\n\n\n\n<li><code>roscpp<\/code>\u548c<code>rospy<\/code>\u5e93\uff1a\u7528\u4e8e\u521b\u5efaROS\u8282\u70b9\u548c\u64cd\u4f5cROS\u4e3b\u9898\u7684C++\u548cPython API\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u529f\u80fd\u548c\u63a5\u53e3\u3002<\/li>\n\n\n\n<li><code>rosbag<\/code>\uff1a\u7528\u4e8e\u8bb0\u5f55\u548c\u56de\u653eROS\u4e3b\u9898\u4e0a\u7684\u6d88\u606f\uff0c\u4ee5\u53ca\u8fdb\u884c\u79bb\u7ebf\u6570\u636e\u5206\u6790\u548c\u5904\u7406\u3002<\/li>\n\n\n\n<li><code>rosbridge<\/code>\uff1a\u7528\u4e8e\u5728ROS\u548c\u5176\u4ed6\u975eROS\u7cfb\u7edf\u4e4b\u95f4\u8fdb\u884c\u6570\u636e\u901a\u4fe1\u548c\u8f6c\u6362\uff0c\u652f\u6301\u591a\u79cd\u534f\u8bae\u548c\u6570\u636e\u683c\u5f0f\u3002<\/li>\n\n\n\n<li><code>rostopic pub<\/code>\uff1a\u7528\u4e8e\u624b\u52a8\u53d1\u5e03\u6307\u5b9a\u7c7b\u578b\u7684\u6d88\u606f\u5230\u6307\u5b9a\u7684\u4e3b\u9898\u4e0a\uff0c\u4fbf\u4e8e\u6d4b\u8bd5\u548c\u8c03\u8bd5\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u719f\u6089\u548c\u638c\u63e1ROS\u4e3b\u9898\u7684\u57fa\u672c\u6982\u5ff5\u3001\u64cd\u4f5c\u65b9\u6cd5\u548c\u5e38\u7528\u5de5\u5177\uff0c\u53ef\u4ee5\u66f4\u597d\u5730\u5f00\u53d1\u548c\u8c03\u8bd5ROS\u5e94\u7528\u7a0b\u5e8f\uff0c\u5e76\u5b9e\u73b0\u590d\u6742\u7684\u6d88\u606f\u901a\u4fe1\u548c\u534f\u4f5c\u529f\u80fd\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6d88\u606f\u548c\u901a\u4fe1\u8bf7\u6c42\u548c\u54cd\u5e94\u670d\u52a1ChatGPT<\/p>\n\n\n\n<p>\u9664\u4e86\u4f7f\u7528ROS\u4e3b\u9898\u8fdb\u884c\u6d88\u606f\u53d1\u5e03\u548c\u8ba2\u9605\u4e4b\u5916\uff0c\u8fd8\u53ef\u4ee5\u4f7f\u7528ROS\u670d\u52a1\uff08Service\uff09\u8fdb\u884c\u6d88\u606f\u8bf7\u6c42\u548c\u54cd\u5e94\u64cd\u4f5c\u3002ROS\u670d\u52a1\u662f\u4e00\u79cd\u5728\u8282\u70b9\u4e4b\u95f4\u8fdb\u884c\u53cc\u5411\u901a\u4fe1\u7684\u673a\u5236\uff0c\u901a\u8fc7\u8bf7\u6c42\u548c\u54cd\u5e94\u7684\u65b9\u5f0f\uff0c\u5b9e\u73b0\u8282\u70b9\u4e4b\u95f4\u7684\u6570\u636e\u4f20\u9012\u548c\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p>ROS\u670d\u52a1\u901a\u4fe1\u7684\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528ROS\u7684C++\u6216Python API\u521b\u5efa\u4e00\u4e2aROS\u8282\u70b9\uff0c\u5e76\u8fdb\u884c\u521d\u59cb\u5316\u64cd\u4f5c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>server<\/code>\u7684\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"server\");\n  ros::NodeHandle n;\n  ...\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u521b\u5efaROS\u670d\u52a1<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u8282\u70b9\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_service<\/code>\u7684\u670d\u52a1\uff0c\u7528\u4e8e\u8bf7\u6c42\u548c\u54cd\u5e94\u6570\u636e\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>add_two_ints<\/code>\u7684\u670d\u52a1\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>ros::ServiceServer service = n.advertiseService(\"my_service\", addTwoInts);\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>advertiseService<\/code>\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u670d\u52a1\uff0c\u6307\u5b9a\u670d\u52a1\u540d\u79f0\u4e3a<code>my_service<\/code>\uff0c\u8bf7\u6c42\u6570\u636e\u7c7b\u578b\u4e3a<code>my_package::MyServiceRequest<\/code>\uff0c\u54cd\u5e94\u6570\u636e\u7c7b\u578b\u4e3a<code>my_package::MyServiceResponse<\/code>\uff0c\u5e76\u6307\u5b9a\u8bf7\u6c42\u548c\u54cd\u5e94\u7684\u56de\u8c03\u51fd\u6570<code>addTwoInts<\/code>\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u5904\u7406\u670d\u52a1\u8bf7\u6c42<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u56de\u8c03\u51fd\u6570\u5904\u7406\u670d\u52a1\u8bf7\u6c42\uff0c\u5e76\u8fd4\u56de\u76f8\u5e94\u7684\u6570\u636e\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u5b9a\u4e49\u4e00\u4e2a\u56de\u8c03\u51fd\u6570<code>addTwoInts<\/code>\uff0c\u7528\u4e8e\u63a5\u6536\u4e24\u4e2a\u6574\u6570\uff0c\u5e76\u8fd4\u56de\u5b83\u4eec\u7684\u548c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>bool addTwoInts(my_package::MyServiceRequest&amp; req, my_package::MyServiceResponse&amp; res)\n{\n  res.sum = req.a + req.b;\n  ROS_INFO(\"request: a=%ld, b=%ld\", (long int)req.a, (long int)req.b);\n  ROS_INFO(\"sending back response: [%ld]\", (long int)res.sum);\n  return true;\n}\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>req<\/code>\u662f\u4e00\u4e2a<code>my_package::MyServiceRequest<\/code>\u7c7b\u578b\u7684\u8bf7\u6c42\u6d88\u606f\u5bf9\u8c61\uff0c\u5305\u542b\u4e24\u4e2a\u6574\u6570\u5b57\u6bb5<code>a<\/code>\u548c<code>b<\/code>\uff0c\u7528\u4e8e\u63a5\u6536\u670d\u52a1\u8bf7\u6c42\u6570\u636e\u3002<code>res<\/code>\u662f\u4e00\u4e2a<code>my_package::MyServiceResponse<\/code>\u7c7b\u578b\u7684\u54cd\u5e94\u6d88\u606f\u5bf9\u8c61\uff0c\u5305\u542b\u4e00\u4e2a\u6574\u6570\u5b57\u6bb5<code>sum<\/code>\uff0c\u7528\u4e8e\u8fd4\u56de\u670d\u52a1\u54cd\u5e94\u6570\u636e\u3002\u8be5\u56de\u8c03\u51fd\u6570\u5c06\u8bf7\u6c42\u6d88\u606f\u4e2d\u7684\u4e24\u4e2a\u6574\u6570\u76f8\u52a0\uff0c\u5e76\u5c06\u7ed3\u679c\u4fdd\u5b58\u5230\u54cd\u5e94\u6d88\u606f\u4e2d\uff0c\u5e76\u4f7f\u7528<code>ROS_INFO<\/code>\u51fd\u6570\u5c06\u8bf7\u6c42\u548c\u54cd\u5e94\u7684\u6570\u636e\u6253\u5370\u5230\u63a7\u5236\u53f0\u4e0a\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>\u8fd0\u884cROS\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u5b8c\u6210\u670d\u52a1\u521b\u5efa\u548c\u5904\u7406\u7b49\u64cd\u4f5c\u540e\uff0c\u9700\u8981\u8fd0\u884cROS\u8282\u70b9\u4ee5\u4f7f\u5176\u751f\u6548\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8fd0\u884cROS\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosrun my_package server\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>my_package<\/code>\u662fROS\u5305\u7684\u540d\u79f0\uff0c<code>server<\/code>\u662f\u8282\u70b9\u7684\u540d\u79f0\u3002\u8fd0\u884c\u8be5\u547d\u4ee4\u540e\uff0c\u8282\u70b9\u4f1a\u81ea\u52a8\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_service<\/code>\u7684\u670d\u52a1\uff0c\u7b49\u5f85\u63a5\u6536\u8bf7\u6c42\u6d88\u606f\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>\u8bf7\u6c42ROS\u670d\u52a1<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u5ba2\u6237\u7aef\u8bf7\u6c42\u670d\u52a1\uff0c\u5e76\u63a5\u6536\u76f8\u5e94\u7684\u6570\u636e\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u5b9a\u4e49\u4e00\u4e2a\u5ba2\u6237\u7aef\u8282\u70b9<code>client<\/code>\uff0c\u7528\u4e8e\u5411\u670d\u52a1<code>my_service<\/code>\u53d1\u9001\u8bf7\u6c42\uff0c\u5e76\u63a5\u6536\u670d\u52a1\u7684\u54cd\u5e94\u6570\u636e\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code><\/code><\/pre>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n#include \"my_package\/MyService.h\"\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"client\");\n  ros::NodeHandle n;\n  ros::ServiceClient client = n.serviceClient&lt;my_package::MyService&gt;(\"my_service\");\n  my_package::MyService srv;\n  srv.request.a = 1;\n  srv.request.b = 2;\n  if (client.call(srv))\n  {\n    ROS_INFO(\"Sum: %ld\", (long int)srv.response.sum);\n  }\n  else\n  {\n    ROS_ERROR(\"Failed to call service my_service\");\n    return 1;\n  }\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>client<\/code>\u662f\u4e00\u4e2aROS\u8282\u70b9\uff0c\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_service<\/code>\u7684\u670d\u52a1\u5ba2\u6237\u7aef\uff0c\u5e76\u5411\u8be5\u670d\u52a1\u53d1\u9001\u8bf7\u6c42\u3002<code>srv<\/code>\u662f\u4e00\u4e2a<code>my_package::MyService<\/code>\u7c7b\u578b\u7684\u670d\u52a1\u6d88\u606f\u5bf9\u8c61\uff0c\u5305\u542b\u4e24\u4e2a\u6574\u6570\u5b57\u6bb5<code>a<\/code>\u548c<code>b<\/code>\uff0c\u7528\u4e8e\u8bbe\u7f6e\u670d\u52a1\u8bf7\u6c42\u6570\u636e\u3002<code>client.call(srv)<\/code>\u7528\u4e8e\u53d1\u9001\u670d\u52a1\u8bf7\u6c42\uff0c\u5e76\u7b49\u5f85\u63a5\u6536\u670d\u52a1\u7684\u54cd\u5e94\u6570\u636e\u3002\u5982\u679c\u670d\u52a1\u8c03\u7528\u6210\u529f\uff0c\u5219\u6253\u5370\u54cd\u5e94\u6570\u636e<code>sum<\/code>\uff0c\u5426\u5219\u6253\u5370\u9519\u8bef\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528ROS\u670d\u52a1\u8fdb\u884c\u6d88\u606f\u901a\u4fe1\u65f6\uff0c\u8fd8\u9700\u8981\u6ce8\u610f\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u670d\u52a1\u8bf7\u6c42\u548c\u54cd\u5e94\u7684\u6d88\u606f\u7c7b\u578b\u5fc5\u987b\u7b26\u5408ROS\u89c4\u8303\uff0c\u5e76\u4e14\u53ef\u4ee5\u88ab\u6240\u6709\u8282\u70b9\u6b63\u786e\u89e3\u6790\u548c\u5904\u7406\u3002<\/li>\n\n\n\n<li>\u670d\u52a1\u540d\u79f0\u5fc5\u987b\u7b26\u5408ROS\u547d\u540d\u89c4\u8303\uff0c\u5e76\u4e14\u4e0d\u80fd\u4e0e\u5176\u4ed6\u8282\u70b9\u7684\u670d\u52a1\u540d\u79f0\u91cd\u590d\u3002<\/li>\n\n\n\n<li>\u670d\u52a1\u7aef\u548c\u5ba2\u6237\u7aef\u4e4b\u95f4\u7684\u901a\u4fe1\u662f\u540c\u6b65\u7684\uff0c\u9700\u8981\u5904\u7406\u8d85\u65f6\u3001\u5f02\u5e38\u7b49\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u670d\u52a1\u7aef\u5e94\u4fdd\u8bc1\u5e76\u53d1\u5904\u7406\u591a\u4e2a\u8bf7\u6c42\uff0c\u5e76\u4f7f\u7528\u4e92\u65a5\u9501\u7b49\u673a\u5236\u4fdd\u62a4\u5171\u4eab\u8d44\u6e90\u7684\u8bbf\u95ee\u3002<\/li>\n\n\n\n<li>\u670d\u52a1\u7684\u8bf7\u6c42\u548c\u54cd\u5e94\u6570\u636e\u53ef\u4ee5\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\uff0c\u901a\u8fc7\u7f16\u5199.msg\u6587\u4ef6\u6765\u5b9a\u4e49\u6d88\u606f\u683c\u5f0f\uff0c\u5e76\u4f7f\u7528<code>rosmsg<\/code>\u5de5\u5177\u751f\u6210\u76f8\u5e94\u7684\u6d88\u606f\u6e90\u4ee3\u7801\u3002<\/li>\n<\/ul>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u9664\u4e86\u4f7f\u7528ROS\u670d\u52a1\u8fdb\u884c\u6d88\u606f\u8bf7\u6c42\u548c\u54cd\u5e94\u4e4b\u5916\uff0c\u8fd8\u53ef\u4ee5\u4f7f\u7528ROS\u52a8\u4f5c\uff08Action\uff09\u8fdb\u884c\u66f4\u4e3a\u590d\u6742\u548c\u7075\u6d3b\u7684\u6d88\u606f\u901a\u4fe1\u548c\u63a7\u5236\u64cd\u4f5c\u3002ROS\u52a8\u4f5c\u662f\u4e00\u79cd\u652f\u6301\u5f02\u6b65\u3001\u53ef\u4e2d\u65ad\u548c\u53ef\u53d6\u6d88\u7684\u6d88\u606f\u901a\u4fe1\u673a\u5236\uff0c\u7528\u4e8e\u5b9e\u73b0\u5177\u6709\u590d\u6742\u884c\u4e3a\u548c\u76ee\u6807\u7684\u4efb\u52a1\u6267\u884c\u548c\u63a7\u5236\u3002<\/p>\n\n\n\n<p>ROS\u52a8\u4f5c\u901a\u4fe1\u7684\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528ROS\u7684C++\u6216Python API\u521b\u5efa\u4e00\u4e2aROS\u8282\u70b9\uff0c\u5e76\u8fdb\u884c\u521d\u59cb\u5316\u64cd\u4f5c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>server<\/code>\u7684\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"server\");\n  ros::NodeHandle n;\n  ...\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u521b\u5efaROS\u52a8\u4f5c<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u8282\u70b9\u4e2d\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_action<\/code>\u7684\u52a8\u4f5c\uff0c\u7528\u4e8e\u5f02\u6b65\u6267\u884c\u4efb\u52a1\u5e76\u53cd\u9988\u6267\u884c\u8fdb\u5ea6\u548c\u7ed3\u679c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>fibonacci<\/code>\u7684\u52a8\u4f5c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"my_package\/FibonacciAction.h\"\n\nclass FibonacciAction\n{\npublic:\n  FibonacciAction(std::string name) :\n    as_(n_, name, boost::bind(&amp;FibonacciAction::executeCB, this, _1), false),\n    action_name_(name)\n  {\n    as_.start();\n  }\n\n  ~FibonacciAction(void)\n  {\n  }\n\n  void executeCB(const my_package::FibonacciGoalConstPtr &amp;goal)\n  {\n    \/\/ do some work here\n    as_.setSucceeded(result_);\n  }\n\nprotected:\n  ros::NodeHandle n_;\n  actionlib::SimpleActionServer&lt;my_package::FibonacciAction&gt; as_;\n  std::string action_name_;\n  my_package::FibonacciFeedback feedback_;\n  my_package::FibonacciResult result_;\n};\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>SimpleActionServer<\/code>\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_action<\/code>\u7684\u52a8\u4f5c\u670d\u52a1\u5668\uff0c\u6307\u5b9a\u8bf7\u6c42\u6570\u636e\u7c7b\u578b\u4e3a<code>my_package::MyActionGoal<\/code>\uff0c\u53cd\u9988\u6570\u636e\u7c7b\u578b\u4e3a<code>my_package::MyActionFeedback<\/code>\uff0c\u7ed3\u679c\u6570\u636e\u7c7b\u578b\u4e3a<code>my_package::MyActionResult<\/code>\uff0c\u5e76\u6307\u5b9a\u52a8\u4f5c\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570<code>executeCB<\/code>\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u5904\u7406\u52a8\u4f5c\u8bf7\u6c42<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528\u56de\u8c03\u51fd\u6570\u5904\u7406\u52a8\u4f5c\u8bf7\u6c42\uff0c\u5e76\u66f4\u65b0\u6267\u884c\u8fdb\u5ea6\u548c\u7ed3\u679c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u5b9a\u4e49\u4e00\u4e2a\u56de\u8c03\u51fd\u6570<code>executeCB<\/code>\uff0c\u7528\u4e8e\u5f02\u6b65\u6267\u884c\u6590\u6ce2\u90a3\u5951\u6570\u5217\uff0c\u5e76\u5c06\u6bcf\u4e2a\u6570\u5b57\u4f5c\u4e3a\u53cd\u9988\u4fe1\u606f\u53d1\u9001\u7ed9\u5ba2\u6237\u7aef\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>void executeCB(const my_package::FibonacciGoalConstPtr &amp;goal)\n{\n  ros::Rate r(1);\n  bool success = true;\n\n  feedback_.sequence.clear();\n  feedback_.sequence.push_back(0);\n  feedback_.sequence.push_back(1);\n\n  ROS_INFO(\"%s: Executing, creating Fibonacci sequence of order %ld with seeds %d, %d\",\n           action_name_.c_str(), goal-&gt;order, feedback_.sequence[0], feedback_.sequence[1]);\n\n  for(int i=1; i&lt;=goal-&gt;order; i++)\n  {\n    if (as_.isPreemptRequested() || !ros::ok())\n    {\n      ROS_INFO(\"%s: Preempted\", action_name_.c_str());\n      as_.setPreempted();\n      success = false;\n      break;\n    }\n    feedback_.sequence.push_back(feedback_.sequence[i]\n<\/code><\/pre>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>+feedback_.sequence[i-1]); as_.publishFeedback(feedback_); r.sleep(); }<\/p>\n\n\n\n<p>if(success) { result_.sequence = feedback_.sequence; ROS_INFO(&#8220;%s: Succeeded&#8221;, action_name_.c_str()); as_.setSucceeded(result_); } }<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">markdownCopy code<code>\n\u5176\u4e2d\uff0c`goal`\u662f\u4e00\u4e2a`my_package::MyActionGoal`\u7c7b\u578b\u7684\u8bf7\u6c42\u6d88\u606f\u5bf9\u8c61\uff0c\u5305\u542b\u4e00\u4e2a\u6574\u6570\u5b57\u6bb5`order`\uff0c\u7528\u4e8e\u6307\u5b9a\u6590\u6ce2\u90a3\u5951\u6570\u5217\u7684\u957f\u5ea6\u3002`feedback_`\u662f\u4e00\u4e2a`my_package::MyActionFeedback`\u7c7b\u578b\u7684\u53cd\u9988\u6d88\u606f\u5bf9\u8c61\uff0c\u7528\u4e8e\u4fdd\u5b58\u6267\u884c\u8fc7\u7a0b\u4e2d\u7684\u53cd\u9988\u4fe1\u606f\u3002`result_`\u662f\u4e00\u4e2a`my_package::MyActionResult`\u7c7b\u578b\u7684\u7ed3\u679c\u6d88\u606f\u5bf9\u8c61\uff0c\u7528\u4e8e\u4fdd\u5b58\u52a8\u4f5c\u6267\u884c\u7684\u7ed3\u679c\u3002\n\n4. \u8fd0\u884cROS\u8282\u70b9\n\n\u5728\u5b8c\u6210\u52a8\u4f5c\u521b\u5efa\u548c\u5904\u7406\u7b49\u64cd\u4f5c\u540e\uff0c\u9700\u8981\u8fd0\u884cROS\u8282\u70b9\u4ee5\u4f7f\u5176\u751f\u6548\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8fd0\u884cROS\u8282\u70b9\uff1a\n\n<\/code><\/pre>\n\n\n\n<p>rosrun my_package server<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">arduinoCopy code<code>\n\u5176\u4e2d\uff0c`my_package`\u662fROS\u5305\u7684\u540d\u79f0\uff0c`server`\u662f\u8282\u70b9\u7684\u540d\u79f0\u3002\u8fd0\u884c\u8be5\u547d\u4ee4\u540e\uff0c\u8282\u70b9\u4f1a\u81ea\u52a8\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a`my_action`\u7684\u52a8\u4f5c\u670d\u52a1\u5668\uff0c\u7b49\u5f85\u63a5\u6536\u8bf7\u6c42\u6d88\u606f\u3002\n\n5. \u8bf7\u6c42ROS\u52a8\u4f5c\n\n\u4f7f\u7528\u5ba2\u6237\u7aef\u8bf7\u6c42\u52a8\u4f5c\uff0c\u5e76\u63a5\u6536\u76f8\u5e94\u7684\u6570\u636e\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u5b9a\u4e49\u4e00\u4e2a\u5ba2\u6237\u7aef\u8282\u70b9`client`\uff0c\u7528\u4e8e\u5411\u52a8\u4f5c`my_action`\u53d1\u9001\u8bf7\u6c42\uff0c\u5e76\u63a5\u6536\u52a8\u4f5c\u7684\u53cd\u9988\u4fe1\u606f\u548c\u7ed3\u679c\u6570\u636e\uff1a\n\n```cpp\n#include \"ros\/ros.h\"\n#include \"my_package\/FibonacciAction.h\"\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"client\");\n  ros::NodeHandle n;\n  actionlib::SimpleActionClient&lt;my_package::FibonacciAction&gt; ac(\"my_action\", true);\n  ac.waitForServer();\n  my_package::FibonacciGoal goal;\n  goal.order = 10;\n  ac.sendGoal(goal);\n  bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));\n  if (finished_before_timeout)\n  {\n    actionlib::SimpleClientGoalState state = ac.getState();\n    ROS_INFO(\"Action finished: %s\",state.toString().c_str());\n    my_package::FibonacciResultConstPtr result = ac.getResult();\n    for(int i=0; i&lt;result-&gt;sequence.size(); i++)\n      ROS_INFO(\"Result[%d]: %d\", i, result-&gt;sequence[i]);\n  }\n  else\n  {\n    ROS_INFO(\"Action did not finish before the time out.\");\n  }\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>ac<\/code>\u662f\u4e00\u4e2aROS\u8282\u70b9\uff0c\u7528\u4e8e\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>my_action<\/code>\u7684\u52a8\u4f5c\u5ba2\u6237\u7aef\uff0c\u5e76\u5411\u8be5\u52a8\u4f5c\u53d1\u9001\u8bf7\u6c42\u3002<code>goal<\/code>\u662f\u4e00\u4e2a<code>my_package::MyActionGoal<\/code>\u7c7b\u578b\u7684\u8bf7\u6c42\u6d88\u606f\u5bf9\u8c61\uff0c\u5305\u542b\u4e00\u4e2a\u6574\u6570\u5b57\u6bb5<code>order<\/code>\uff0c\u7528\u4e8e\u8bbe\u7f6e\u52a8\u4f5c\u8bf7\u6c42\u6570\u636e\u3002<code>ac.sendGoal(goal)<\/code>\u7528\u4e8e\u53d1\u9001\u52a8\u4f5c\u8bf7\u6c42\uff0c\u5e76\u7b49\u5f85\u63a5\u6536\u52a8\u4f5c\u7684\u53cd\u9988\u4fe1\u606f\u548c\u7ed3\u679c\u6570\u636e\u3002\u5982\u679c\u52a8\u4f5c\u6267\u884c\u6210\u529f\uff0c\u5219\u6253\u5370\u6267\u884c\u72b6\u6001\u548c\u7ed3\u679c\u6570\u636e\uff0c\u5426\u5219\u6253\u5370\u9519\u8bef\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528ROS\u52a8\u4f5c\u8fdb\u884c\u6d88\u606f\u901a\u4fe1\u548c\u63a7\u5236\u64cd\u4f5c\u65f6\uff0c\u8fd8\u9700\u8981\u6ce8\u610f\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u52a8\u4f5c\u8bf7\u6c42\u548c\u53cd\u9988\u7684\u6d88\u606f\u7c7b\u578b\u5fc5\u987b\u7b26\u5408ROS\u89c4\u8303\uff0c\u5e76\u4e14\u53ef\u4ee5\u88ab\u6240\u6709\u8282\u70b9\u6b63\u786e\u89e3\u6790\u548c\u5904\u7406\u3002<\/li>\n\n\n\n<li>\u52a8<\/li>\n<\/ul>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u4f5c\u540d\u79f0\u5fc5\u987b\u7b26\u5408ROS\u547d\u540d\u89c4\u8303\uff0c\u5e76\u4e14\u4e0d\u80fd\u4e0e\u5176\u4ed6\u8282\u70b9\u7684\u52a8\u4f5c\u540d\u79f0\u91cd\u590d\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u52a8\u4f5c\u7684\u6267\u884c\u8fc7\u7a0b\u53ef\u4ee5\u88ab\u4e2d\u65ad\u548c\u53d6\u6d88\uff0c\u9700\u8981\u5904\u7406\u8d85\u65f6\u3001\u5f02\u5e38\u7b49\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u52a8\u4f5c\u670d\u52a1\u5668\u5e94\u4fdd\u8bc1\u5e76\u53d1\u5904\u7406\u591a\u4e2a\u8bf7\u6c42\uff0c\u5e76\u4f7f\u7528\u4e92\u65a5\u9501\u7b49\u673a\u5236\u4fdd\u62a4\u5171\u4eab\u8d44\u6e90\u7684\u8bbf\u95ee\u3002<\/li>\n\n\n\n<li>\u52a8\u4f5c\u7684\u8bf7\u6c42\u548c\u53cd\u9988\u6570\u636e\u53ef\u4ee5\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\uff0c\u901a\u8fc7\u7f16\u5199.msg\u6587\u4ef6\u6765\u5b9a\u4e49\u6d88\u606f\u683c\u5f0f\uff0c\u5e76\u4f7f\u7528<code>rosmsg<\/code>\u5de5\u5177\u751f\u6210\u76f8\u5e94\u7684\u6d88\u606f\u6e90\u4ee3\u7801\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0cROS\u52a8\u4f5c\u63d0\u4f9b\u4e86\u4e00\u79cd\u66f4\u52a0\u7075\u6d3b\u548c\u5f3a\u5927\u7684\u6d88\u606f\u901a\u4fe1\u548c\u63a7\u5236\u673a\u5236\uff0c\u53ef\u4ee5\u5b9e\u73b0\u66f4\u4e3a\u590d\u6742\u548c\u9ad8\u7ea7\u7684\u4efb\u52a1\u6267\u884c\u548c\u63a7\u5236\u529f\u80fd\u3002\u4f46\u76f8\u6bd4\u4e8eROS\u670d\u52a1\u548c\u4e3b\u9898\uff0c\u4f7f\u7528ROS\u52a8\u4f5c\u8fdb\u884c\u6d88\u606f\u901a\u4fe1\u4e5f\u66f4\u4e3a\u590d\u6742\u548c\u96be\u4ee5\u7406\u89e3\uff0c\u9700\u8981\u66f4\u591a\u7684\u7f16\u7a0b\u6280\u5de7\u548c\u7ecf\u9a8c\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6d88\u606f\u548c\u901a\u4fe1\u5b9e\u73b0\u52a8\u6001\u53c2\u6570\u8c03\u6574ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u53ef\u4ee5\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668\u6765\u5b9e\u73b0\u52a8\u6001\u53c2\u6570\u8c03\u6574\u3002\u53c2\u6570\u670d\u52a1\u5668\u662f\u4e00\u79cd\u7528\u4e8e\u5b58\u50a8\u548c\u5171\u4eab\u53c2\u6570\u914d\u7f6e\u4fe1\u606f\u7684\u5206\u5e03\u5f0f\u5b58\u50a8\u7cfb\u7edf\uff0c\u53ef\u4ee5\u5728\u591a\u4e2a\u8282\u70b9\u4e4b\u95f4\u5171\u4eab\u6570\u636e\uff0c\u5e76\u652f\u6301\u52a8\u6001\u66f4\u65b0\u548c\u67e5\u8be2\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p>\u8981\u5b9e\u73b0\u52a8\u6001\u53c2\u6570\u8c03\u6574\uff0c\u53ef\u4ee5\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u7684API\uff0c\u901a\u8fc7ROS\u8282\u70b9\u4e4b\u95f4\u7684\u6d88\u606f\u901a\u4fe1\u6765\u5b9e\u73b0\u3002\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efaROS\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528ROS\u7684C++\u6216Python API\u521b\u5efa\u4e00\u4e2aROS\u8282\u70b9\uff0c\u5e76\u8fdb\u884c\u521d\u59cb\u5316\u64cd\u4f5c\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a<code>listener<\/code>\u7684\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>#include \"ros\/ros.h\"\n\nint main(int argc, char **argv)\n{\n  ros::init(argc, argv, \"listener\");\n  ros::NodeHandle n;\n  ...\n  return 0;\n}\n<\/code><\/pre>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u58f0\u660eROS\u53c2\u6570<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u8282\u70b9\u4e2d\u58f0\u660e\u9700\u8981\u52a8\u6001\u8c03\u6574\u7684\u53c2\u6570\uff0c\u5e76\u5c06\u5176\u4fdd\u5b58\u5230ROS\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u58f0\u660e\u4e00\u4e2a\u540d\u4e3a<code>rate<\/code>\u7684\u53c2\u6570\uff0c\u5e76\u5c06\u5176\u4fdd\u5b58\u5230ROS\u53c2\u6570\u670d\u52a1\u5668\u4e2d\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>double rate = 10.0;\nros::param::set(\"~rate\", rate);\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>~<\/code>\u8868\u793a\u5f53\u524d\u8282\u70b9\u7684\u547d\u540d\u7a7a\u95f4\uff0c\u5373\u9ed8\u8ba4\u4e3a<code>\/listener<\/code>\u3002<code>ros::param::set<\/code>\u7528\u4e8e\u5c06\u53c2\u6570<code>rate<\/code>\u7684\u503c\u8bbe\u7f6e\u4e3a<code>10.0<\/code>\u5e76\u4fdd\u5b58\u5230ROS\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u5b9a\u4e49ROS\u56de\u8c03\u51fd\u6570<\/li>\n<\/ol>\n\n\n\n<p>\u5b9a\u4e49\u4e00\u4e2aROS\u56de\u8c03\u51fd\u6570\uff0c\u7528\u4e8e\u63a5\u6536ROS\u53c2\u6570\u670d\u52a1\u5668\u7684\u66f4\u65b0\u6d88\u606f\uff0c\u5e76\u6839\u636e\u66f4\u65b0\u5185\u5bb9\u52a8\u6001\u8c03\u6574\u53c2\u6570\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u5b9a\u4e49\u4e00\u4e2a\u56de\u8c03\u51fd\u6570<code>callback<\/code>\uff0c\u7528\u4e8e\u63a5\u6536\u53c2\u6570<code>rate<\/code>\u7684\u66f4\u65b0\u6d88\u606f\uff0c\u5e76\u5c06\u66f4\u65b0\u540e\u7684\u503c\u4fdd\u5b58\u5230\u53d8\u91cf<code>rate<\/code>\u4e2d\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>void callback(const ros::TimerEvent&amp; event)\n{\n  double rate;\n  if (ros::param::get(\"~rate\", rate))\n  {\n    ROS_INFO(\"Updated rate: %f\", rate);\n    \/\/ do some work here\n  }\n  else\n  {\n    ROS_ERROR(\"Failed to get rate parameter\");\n  }\n}\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>ros::param::get<\/code>\u7528\u4e8e\u4eceROS\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u83b7\u53d6\u53c2\u6570<code>rate<\/code>\u7684\u503c\uff0c\u5e76\u5c06\u5176\u4fdd\u5b58\u5230\u53d8\u91cf<code>rate<\/code>\u4e2d\u3002\u5982\u679c\u83b7\u53d6\u53c2\u6570\u5931\u8d25\uff0c\u5219\u6253\u5370\u9519\u8bef\u4fe1\u606f\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>\u521b\u5efaROS\u5b9a\u65f6\u5668<\/li>\n<\/ol>\n\n\n\n<p>\u521b\u5efa\u4e00\u4e2aROS\u5b9a\u65f6\u5668\uff0c\u7528\u4e8e\u5b9a\u671f\u8c03\u7528\u56de\u8c03\u51fd\u6570\u5e76\u68c0\u67e5\u53c2\u6570\u66f4\u65b0\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0bC++\u4ee3\u7801\u521b\u5efa\u4e00\u4e2a\u5b9a\u65f6\u5668\uff0c\u5e76\u6bcf\u96941\u79d2\u949f\u8c03\u7528\u4e00\u6b21\u56de\u8c03\u51fd\u6570<code>callback<\/code>\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cppCopy code<code>ros::Timer timer = n.createTimer(ros::Duration(1.0), callback);\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>ros::Duration(1.0)<\/code>\u8868\u793a\u5b9a\u65f6\u5668\u7684\u65f6\u95f4\u95f4\u9694\u4e3a1\u79d2\u949f\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>\u8fd0\u884cROS\u8282\u70b9<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u5b8c\u6210\u53c2\u6570\u58f0\u660e\u3001\u56de\u8c03\u51fd\u6570\u5b9a\u4e49\u548c\u5b9a\u65f6\u5668\u521b\u5efa\u7b49\u64cd\u4f5c\u540e\uff0c\u9700\u8981\u8fd0\u884cROS\u8282\u70b9\u4ee5\u4f7f\u5176\u751f\u6548\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u8fd0\u884cROS\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">Copy code<code>rosrun my_package listener\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>my_package<\/code>\u662fROS\u5305\u7684\u540d\u79f0\uff0c<code>listener<\/code>\u662f\u8282\u70b9\u7684\u540d\u79f0\u3002\u8fd0\u884c\u8be5\u547d\u4ee4\u540e\uff0c\u8282\u70b9\u4f1a\u81ea\u52a8\u8bfb\u53d6\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u7684\u53c2\u6570<code>rate<\/code>\uff0c\u5e76\u5b9a\u65f6\u8c03\u7528\u56de\u8c03\u51fd\u6570\u4ee5\u68c0\u67e5\u53c2\u6570\u66f4\u65b0\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"6\">\n<li>\u66f4\u65b0ROS\u53c2\u6570<\/li>\n<\/ol>\n\n\n\n<p>\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u7684API\u66f4\u65b0\u53c2\u6570\u7684<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u503c\uff0c\u4ee5\u5b9e\u73b0\u52a8\u6001\u53c2\u6570\u8c03\u6574\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u66f4\u65b0\u53c2\u6570<code>rate<\/code>\u7684\u503c\u4e3a<code>20.0<\/code>\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">bashCopy code<code>rosparam set \/listener\/rate 20.0\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0c<code>\/listener\/rate<\/code>\u8868\u793a\u8981\u66f4\u65b0\u7684\u53c2\u6570\u540d\u79f0\uff0c<code>20.0<\/code>\u8868\u793a\u8981\u8bbe\u7f6e\u7684\u53c2\u6570\u503c\u3002\u66f4\u65b0\u5b8c\u6210\u540e\uff0c\u8282\u70b9\u4f1a\u7acb\u5373\u63a5\u6536\u5230\u53c2\u6570\u66f4\u65b0\u6d88\u606f\uff0c\u5e76\u6839\u636e\u66f4\u65b0\u5185\u5bb9\u52a8\u6001\u8c03\u6574\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528ROS\u53c2\u6570\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u65f6\uff0c\u8fd8\u9700\u8981\u6ce8\u610f\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u53c2\u6570\u540d\u79f0\u548c\u503c\u5fc5\u987b\u7b26\u5408ROS\u89c4\u8303\uff0c\u5e76\u4e14\u53ef\u4ee5\u88ab\u6240\u6709\u8282\u70b9\u6b63\u786e\u89e3\u6790\u548c\u5904\u7406\u3002<\/li>\n\n\n\n<li>\u53c2\u6570\u670d\u52a1\u5668\u5e94\u4fdd\u8bc1\u5e76\u53d1\u8bbf\u95ee\u548c\u66f4\u65b0\u7684\u6b63\u786e\u6027\uff0c\u53ef\u4ee5\u4f7f\u7528\u4e92\u65a5\u9501\u7b49\u673a\u5236\u4fdd\u62a4\u5171\u4eab\u8d44\u6e90\u7684\u8bbf\u95ee\u3002<\/li>\n\n\n\n<li>\u53c2\u6570\u66f4\u65b0\u5e94\u5c3d\u53ef\u80fd\u53ca\u65f6\uff0c\u4ee5\u786e\u4fdd\u53c2\u6570\u7684\u5b9e\u65f6\u6027\u548c\u6709\u6548\u6027\u3002<\/li>\n\n\n\n<li>\u53c2\u6570\u7684\u66f4\u65b0\u8fc7\u7a0b\u53ef\u80fd\u4f1a\u5bfc\u81f4\u8282\u70b9\u7684\u4e0d\u7a33\u5b9a\u548c\u5f02\u5e38\uff0c\u9700\u8981\u5904\u7406\u9519\u8bef\u548c\u5f02\u5e38\u60c5\u51b5\uff0c\u5e76\u8fdb\u884c\u76f8\u5e94\u7684\u8c03\u8bd5\u548c\u6d4b\u8bd5\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0c\u4f7f\u7528ROS\u53c2\u6570\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u662f\u4e00\u79cd\u7075\u6d3b\u3001\u53ef\u9760\u3001\u9ad8\u6548\u7684ROS\u901a\u4fe1\u65b9\u5f0f\uff0c\u53ef\u4ee5\u65b9\u4fbf\u5730\u5b9e\u73b0ROS\u8282\u70b9\u4e4b\u95f4\u7684\u53c2\u6570\u5171\u4eab\u548c\u52a8\u6001\u8c03\u6574\u3002\u4f46\u9700\u8981\u6ce8\u610f\u53c2\u6570\u7684\u547d\u540d\u548c\u7c7b\u578b\uff0c\u4ee5\u53ca\u53c2\u6570\u670d\u52a1\u5668\u7684\u5e76\u53d1\u8bbf\u95ee\u548c\u66f4\u65b0\u673a\u5236\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u673a\u5668\u4eba\u5efa\u6a21\u4e0e\u4eff\u771fChatGPT<\/p>\n\n\n\n<p>ROS\u5728\u673a\u5668\u4eba\u5efa\u6a21\u548c\u4eff\u771f\u65b9\u9762\u5177\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\uff0c\u5b83\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u6784\u5efa\u548c\u6d4b\u8bd5\u673a\u5668\u4eba\u7684\u63a7\u5236\u7b97\u6cd5\u3001\u611f\u77e5\u7cfb\u7edf\u548c\u8fd0\u52a8\u89c4\u5212\u7b49\u5173\u952e\u6280\u672f\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u5728\u673a\u5668\u4eba\u5efa\u6a21\u548c\u4eff\u771f\u65b9\u9762\u7684\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Gazebo<\/li>\n<\/ol>\n\n\n\n<p>Gazebo\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u5f00\u6e90\u673a\u5668\u4eba\u4eff\u771f\u8f6f\u4ef6\u5e73\u53f0\uff0c\u5b83\u4e0eROS\u7d27\u5bc6\u96c6\u6210\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u6a21\u578b\u548c\u4f20\u611f\u5668\u6a21\u62df\u3002Gazebo\u53ef\u4ee5\u6a21\u62df\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u3001\u78b0\u649e\u3001\u611f\u77e5\u3001\u63a7\u5236\u7b49\u884c\u4e3a\uff0c\u4ee5\u53ca\u5916\u90e8\u73af\u5883\u7684\u5f71\u54cd\uff0c\u5982\u91cd\u529b\u3001\u6469\u64e6\u529b\u3001\u98ce\u529b\u7b49\u3002Gazebo\u8fd8\u652f\u6301ROS\u6d88\u606f\u548c\u670d\u52a1\u901a\u4fe1\u673a\u5236\uff0c\u53ef\u4ee5\u901a\u8fc7ROS\u63a7\u5236\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u548c\u884c\u4e3a\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>ROS Control<\/li>\n<\/ol>\n\n\n\n<p>ROS Control\u662f\u4e00\u4e2a\u7528\u4e8e\u63a7\u5236\u673a\u5668\u4eba\u8fd0\u52a8\u548c\u884c\u4e3a\u7684ROS\u8f6f\u4ef6\u5305\uff0c\u5b83\u63d0\u4f9b\u4e86\u4e00\u7ec4\u6807\u51c6\u7684ROS\u6d88\u606f\u548c\u670d\u52a1\u63a5\u53e3\uff0c\u53ef\u4ee5\u4e0e\u673a\u5668\u4eba\u5e95\u5c42\u786c\u4ef6\u548c\u63a7\u5236\u5668\u8fdb\u884c\u901a\u4fe1\uff0c\u5e76\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u3001\u8f68\u8ff9\u63a7\u5236\u3001\u59ff\u6001\u63a7\u5236\u7b49\u529f\u80fd\u3002ROS Control\u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e9b\u5e38\u7528\u7684\u673a\u5668\u4eba\u63a7\u5236\u5668\uff0c\u5982\u5173\u8282\u63a7\u5236\u5668\u3001\u529b\u63a7\u5236\u5668\u3001\u4f4d\u7f6e\u63a7\u5236\u5668\u7b49\uff0c\u53ef\u4ee5\u65b9\u4fbf\u5730\u5bf9\u673a\u5668\u4eba\u8fdb\u884c\u63a7\u5236\u548c\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>MoveIt!<\/li>\n<\/ol>\n\n\n\n<p>MoveIt!\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684ROS\u8f6f\u4ef6\u5305\uff0c\u7528\u4e8e\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u548c\u8f68\u8ff9\u63a7\u5236\uff0c\u652f\u6301\u591a\u79cd\u8fd0\u52a8\u5b66\u548c\u52a8\u529b\u5b66\u6a21\u578b\uff0c\u5e76\u96c6\u6210\u4e86ROS Control\u548cGazebo\u7b49\u76f8\u5173\u8f6f\u4ef6\u5305\u3002MoveIt!\u63d0\u4f9b\u4e86\u4e00\u7ec4\u6807\u51c6\u7684ROS\u6d88\u606f\u548c\u670d\u52a1\u63a5\u53e3\uff0c\u53ef\u4ee5\u4e0e\u673a\u5668\u4eba\u5e95\u5c42\u786c\u4ef6\u548c\u63a7\u5236\u5668\u8fdb\u884c\u901a\u4fe1\uff0c\u5e76\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8def\u5f84\u89c4\u5212\u3001\u969c\u788d\u7269\u907f\u514d\u3001\u8fd0\u52a8\u5b66\u7ea6\u675f\u7b49\u529f\u80fd\u3002MoveIt!\u8fd8\u652f\u6301\u591a\u79cd\u8fd0\u52a8\u89c4\u5212\u7b97\u6cd5\u548c\u8f68\u8ff9\u4f18\u5316\u6280\u672f\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u6548\u3001\u53ef\u9760\u548c\u5b89\u5168\u7684\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>Robot Web Tools<\/li>\n<\/ol>\n\n\n\n<p>Robot Web Tools\u662f\u4e00\u4e2a\u7528\u4e8e\u6784\u5efaWeb\u5e94\u7528\u7a0b\u5e8f\u7684ROS\u8f6f\u4ef6\u5305\uff0c\u5b83\u53ef\u4ee5\u5c06ROS\u6d88\u606f\u548c\u670d\u52a1\u8f6c\u6362\u4e3aWeb\u6d88\u606f\u548c\u670d\u52a1\uff0c\u5e76\u5b9e\u73b0ROS\u8282\u70b9\u548cWeb\u5e94\u7528\u7a0b\u5e8f\u4e4b\u95f4\u7684\u901a\u4fe1\u3002Robot Web Tools\u652f\u6301\u591a\u79cdWeb\u6280\u672f\u548c\u6846\u67b6\uff0c\u5982HTML\u3001JavaScript\u3001WebSocket\u3001Node.js\u7b49\uff0c\u53ef\u4ee5\u8f7b\u677e\u6784\u5efa\u673a\u5668\u4eba\u63a7\u5236\u754c\u9762\u3001\u53ef\u89c6\u5316\u5de5\u5177\u3001\u6570\u636e\u8bb0\u5f55\u548c\u5206\u6790\u7b49Web\u5e94\u7528\u7a0b\u5e8f\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>URDF<\/li>\n<\/ol>\n\n\n\n<p>URDF\u662f\u4e00\u79cd\u7528\u4e8e\u63cf\u8ff0\u673a\u5668\u4eba\u6a21\u578b\u548c\u63a7\u5236\u5668\u7684XML\u6587\u4ef6\u683c\u5f0f\uff0c\u5b83\u53ef\u4ee5\u88abROS\u548cGazebo\u7b49\u8f6f\u4ef6\u5305\u6240\u4f7f\u7528\u3002URDF\u53ef\u4ee5\u63cf\u8ff0\u673a\u5668\u4eba\u7684<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u5173\u8282\u3001\u4f20\u611f\u5668\u3001\u78b0\u649e\u4f53\u3001\u8fd0\u52a8\u5b66\u548c\u52a8\u529b\u5b66\u53c2\u6570\u7b49\u91cd\u8981\u4fe1\u606f\uff0c\u5e76\u63d0\u4f9b\u4e86\u4e00\u7ec4\u6807\u51c6\u7684ROS\u6d88\u606f\u548c\u670d\u52a1\u63a5\u53e3\uff0c\u53ef\u4ee5\u65b9\u4fbf\u5730\u4e0e\u673a\u5668\u4eba\u5e95\u5c42\u786c\u4ef6\u548c\u63a7\u5236\u5668\u8fdb\u884c\u901a\u4fe1\u3002URDF\u8fd8\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u5efa\u6a21\u8f6f\u4ef6\u548c\u5de5\u5177\uff0c\u5982Blender\u3001SolidWorks\u3001OpenRAVE\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u6548\u3001\u7075\u6d3b\u548c\u7cbe\u786e\u7684\u673a\u5668\u4eba\u5efa\u6a21\u548c\u4eff\u771f\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u662fROS\u5728\u673a\u5668\u4eba\u5efa\u6a21\u548c\u4eff\u771f\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\uff0c\u8fd9\u4e9b\u5e94\u7528\u4e0d\u4ec5\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u6784\u5efa\u548c\u6d4b\u8bd5\u673a\u5668\u4eba\u7684\u63a7\u5236\u7b97\u6cd5\u3001\u611f\u77e5\u7cfb\u7edf\u548c\u8fd0\u52a8\u89c4\u5212\u7b49\u5173\u952e\u6280\u672f\uff0c\u4e5f\u53ef\u4ee5\u4e3a\u673a\u5668\u4eba\u6559\u80b2\u548c\u666e\u53ca\u63d0\u4f9b\u5f3a\u5927\u7684\u652f\u6301\u548c\u5e73\u53f0\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u4e0e\u878d\u5408ChatGPT<\/p>\n\n\n\n<p>ROS\u5728\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u548c\u878d\u5408\u65b9\u9762\u4e5f\u5177\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\uff0c\u5b83\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u83b7\u53d6\u3001\u5904\u7406\u548c\u878d\u5408\u5404\u79cd\u4f20\u611f\u5668\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u7cbe\u786e\u5b9a\u4f4d\u3001\u5efa\u56fe\u3001\u76ee\u6807\u8ddf\u8e2a\u548c\u8def\u5f84\u89c4\u5212\u7b49\u529f\u80fd\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u5728\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u548c\u878d\u5408\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Robot Operating System for Earth Observing System (ROSES)<\/li>\n<\/ol>\n\n\n\n<p>ROSES\u662fNASA Jet Propulsion Laboratory\uff08JPL\uff09\u5f00\u53d1\u7684\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u5730\u7403\u89c2\u6d4b\u7cfb\u7edf\uff0c\u5b83\u5229\u7528\u591a\u79cd\u4f20\u611f\u5668\u548c\u536b\u661f\u6570\u636e\uff0c\u5b9e\u73b0\u5bf9\u5730\u7403\u8868\u9762\u7684\u9ad8\u7cbe\u5ea6\u6d4b\u91cf\u3001\u5efa\u6a21\u548c\u9884\u6d4b\u3002ROSES\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u878d\u5408\uff0c\u5982GPS\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001\u536b\u661f\u56fe\u50cf\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u6548\u3001\u51c6\u786e\u548c\u7a33\u5b9a\u7684\u5730\u7403\u89c2\u6d4b\u548c\u76d1\u6d4b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>Point Cloud Library (PCL)<\/li>\n<\/ol>\n\n\n\n<p>PCL\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u5f00\u6e90\u70b9\u4e91\u5e93\uff0c\u7528\u4e8e\u5904\u7406\u548c\u5206\u6790\u70b9\u4e91\u6570\u636e\uff0c\u5b83\u652f\u6301\u591a\u79cd\u70b9\u4e91\u6570\u636e\u7684\u8bfb\u53d6\u3001\u6ee4\u6ce2\u3001\u914d\u51c6\u3001\u5206\u5272\u548c\u8bc6\u522b\u7b49\u529f\u80fd\uff0c\u5e76\u96c6\u6210\u4e86ROS\u548cGazebo\u7b49\u76f8\u5173\u8f6f\u4ef6\u5305\u3002PCL\u63d0\u4f9b\u4e86\u4e00\u7ec4\u6807\u51c6\u7684ROS\u6d88\u606f\u548c\u670d\u52a1\u63a5\u53e3\uff0c\u53ef\u4ee5\u4e0e\u673a\u5668\u4eba\u5e95\u5c42\u786c\u4ef6\u548c\u63a7\u5236\u5668\u8fdb\u884c\u901a\u4fe1\uff0c\u5e76\u5b9e\u73b0\u673a\u5668\u4eba\u5bf9\u73af\u5883\u7684\u611f\u77e5\u548c\u7406\u89e3\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>Robot Localization (AMCL)<\/li>\n<\/ol>\n\n\n\n<p>AMCL\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684ROS\u8f6f\u4ef6\u5305\uff0c\u7528\u4e8e\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u81ea\u6211\u5b9a\u4f4d\u548c\u5730\u56fe\u6784\u5efa\uff0c\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u878d\u5408\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001IMU\u7b49\u3002AMCL\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u3001\u5b9e\u65f6\u7684\u673a\u5668\u4eba\u5b9a\u4f4d\u548c\u5730\u56fe\u6784\u5efa\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u5bfc\u822a\u7b97\u6cd5\u548c\u89c4\u5212\u5668\u7684\u96c6\u6210\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>Multi-Modal Perception System (MMPS)<\/li>\n<\/ol>\n\n\n\n<p>MMPS\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u591a\u6a21\u6001\u611f\u77e5\u7cfb\u7edf\uff0c\u5b83\u5229\u7528\u591a\u79cd\u4f20\u611f\u5668\u548c\u611f\u77e5\u6a21\u5757\uff0c\u5b9e\u73b0\u673a\u5668\u4eba\u5bf9\u73af\u5883\u7684\u9ad8\u7cbe\u5ea6\u611f\u77e5\u548c\u7406\u89e3\u3002MMPS\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u878d\u5408\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001\u58f0\u7eb3\u3001\u96f7\u8fbe\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u5bfc\u822a\u3001\u969c\u788d\u7269\u907f\u514d\u3001\u76ee\u6807\u8ddf\u8e2a\u7b49\u529f\u80fd\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>RobotVision<\/li>\n<\/ol>\n\n\n\n<p>RobotVision\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u673a\u5668\u4eba\u89c6\u89c9\u7cfb\u7edf\uff0c\u5b83\u5229\u7528\u591a\u79cd\u89c6\u89c9\u4f20\u611f\u5668\u548c\u7b97\u6cd5\uff0c\u5b9e\u73b0\u673a\u5668\u4eba\u5bf9\u73af\u5883\u7684\u9ad8\u6548\u611f\u77e5\u548c\u7406\u89e3\u3002RobotVision\u652f\u6301\u591a\u79cd\u89c6\u89c9\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u878d\u5408\uff0c\u5982\u6444\u50cf\u5934\u3001RGBD\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u3001\u5206\u7c7b\u7b49\u529f\u80fd\uff0c\u5e76\u63d0\u4f9b\u4e86\u4e00\u4e9b\u5e38\u7528\u7684\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u548c\u5de5\u5177\uff0c\u5982OpenCV\u3001PCL\u3001TensorFlow\u7b49\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u662fROS\u5728\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u548c\u878d\u5408\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\uff0c\u8fd9\u4e9b\u5e94\u7528\u4e0d\u4ec5\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u83b7\u53d6\u3001\u5904\u7406\u548c\u878d\u5408\u5404\u79cd\u4f20\u611f\u5668\u6570\u636e\uff0c\u4e5f\u53ef\u4ee5\u4e3a\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u5bfc\u822a\u3001\u73af\u5883\u611f\u77e5\u548c\u4ea4\u4e92\u63d0\u4f9b\u5f3a\u5927\u7684\u652f\u6301\u548c\u5e73\u53f0\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u8def\u5f84\u89c4\u5212\u4e0e\u5bfc\u822aChatGPT<\/p>\n\n\n\n<p>ROS\u5728\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u65b9\u9762\u4e5f\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\uff0c\u5b83\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5728\u590d\u6742\u73af\u5883\u4e2d\u7684\u9ad8\u6548\u8fd0\u52a8\u548c\u4efb\u52a1\u5b8c\u6210\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u5728\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Navigation Stack<\/li>\n<\/ol>\n\n\n\n<p>Navigation Stack\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684ROS\u8f6f\u4ef6\u5305\uff0c\u7528\u4e8e\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\uff0c\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u878d\u5408\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001IMU\u7b49\u3002Navigation Stack\u63d0\u4f9b\u4e86\u4e00\u7ec4\u6807\u51c6\u7684ROS\u6d88\u606f\u548c\u670d\u52a1\u63a5\u53e3\uff0c\u53ef\u4ee5\u4e0e\u673a\u5668\u4eba\u5e95\u5c42\u786c\u4ef6\u548c\u63a7\u5236\u5668\u8fdb\u884c\u901a\u4fe1\uff0c\u5e76\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8def\u5f84\u89c4\u5212\u3001\u969c\u788d\u7269\u907f\u514d\u3001\u8fd0\u52a8\u63a7\u5236\u7b49\u529f\u80fd\u3002Navigation Stack\u8fd8\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u5bfc\u822a\u7b97\u6cd5\u548c\u89c4\u5212\u5668\u7684\u96c6\u6210\uff0c\u5982AMCL\u3001DWA Local Planner\u3001Global Planner\u7b49\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>Autonomous Driving<\/li>\n<\/ol>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u662f\u4e00\u4e2a\u70ed\u95e8\u7684\u673a\u5668\u4eba\u5e94\u7528\u9886\u57df\uff0cROS\u5728\u81ea\u52a8\u9a7e\u9a76\u65b9\u9762\u4e5f\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\u3002ROS\u63d0\u4f9b\u4e86\u591a\u79cd\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u5305\u548c\u5de5\u5177\uff0c\u5982Autoware\u3001Apollo\u3001ROS-Industrial\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u9ad8\u6548\u81ea\u4e3b\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\u3002\u8fd9\u4e9b\u8f6f\u4ef6\u5305\u548c\u5de5\u5177\u96c6\u6210\u4e86\u591a\u79cd\u4f20\u611f\u5668\u548c\u7b97\u6cd5\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001GPS\u3001SLAM\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u3001\u5b9e\u65f6\u7684\u673a\u5668\u4eba\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u548c\u4ea4\u4e92\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>Robotics Operating System for Smart Cities (ROSSI)<\/li>\n<\/ol>\n\n\n\n<p>ROSSI\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u667a\u80fd\u57ce\u5e02\u7cfb\u7edf\uff0c\u5b83\u5229\u7528\u591a\u79cd\u4f20\u611f\u5668\u548c\u7b97\u6cd5\uff0c\u5b9e\u73b0\u5bf9\u57ce\u5e02\u4ea4\u901a\u548c\u73af\u5883\u7684\u9ad8\u6548\u7ba1\u7406\u548c\u76d1\u63a7\u3002ROSSI\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u878d\u5408\uff0c\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u6c14\u8c61\u4f20\u611f\u5668\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u57ce\u5e02\u4ea4\u901a\u76d1\u63a7\u3001\u4ea4\u901a\u6d41\u91cf\u9884\u6d4b\u3001\u8def\u51b5\u4f18\u5316\u7b49\u529f\u80fd\u3002ROSSI\u8fd8\u96c6\u6210\u4e86\u591a\u79cd\u673a\u5668\u4eba\u5bfc\u822a\u7b97\u6cd5\u548c\u89c4\u5212\u5668\uff0c\u5982Dijkstra\u3001A*\u3001RRT*\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u6548\u3001\u5b89\u5168\u548c\u53ef\u9760\u7684\u673a\u5668\u4eba\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>Mobile Robots<\/li>\n<\/ol>\n\n\n\n<p>\u79fb\u52a8\u673a\u5668\u4eba\u662f\u4e00\u4e2a\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5de5\u4e1a\u3001\u533b\u7597\u3001\u670d\u52a1\u7b49\u9886\u57df\u7684\u673a\u5668\u4eba\u7c7b\u578b\uff0cROS\u5728\u79fb\u52a8\u673a\u5668\u4eba\u65b9\u9762\u4e5f\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\u3002ROS\u63d0\u4f9b\u4e86\u591a\u79cd\u79fb\u52a8\u673a\u5668\u4eba\u8f6f\u4ef6\u5305\u548c\u5de5\u5177\uff0c\u5982TurtleBot\u3001Rover\u3001Pioneer\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u79fb\u52a8\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u5bfc\u822a\u548c<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u8def\u5f84\u89c4\u5212\u3002\u8fd9\u4e9b\u8f6f\u4ef6\u5305\u548c\u5de5\u5177\u96c6\u6210\u4e86\u591a\u79cd\u4f20\u611f\u5668\u548c\u7b97\u6cd5\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001IMU\u3001SLAM\u7b49\uff0c\u53ef\u4ee5\u5b9e\u73b0\u79fb\u52a8\u673a\u5668\u4eba\u7684\u9ad8\u6548\u81ea\u4e3b\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u548c\u4ea4\u4e92\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>Robot Mapping (GMapping)<\/li>\n<\/ol>\n\n\n\n<p>GMapping\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684ROS\u8f6f\u4ef6\u5305\uff0c\u7528\u4e8e\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u5730\u56fe\u6784\u5efa\u548c\u8def\u5f84\u89c4\u5212\uff0c\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u878d\u5408\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001IMU\u7b49\u3002GMapping\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u3001\u5b9e\u65f6\u7684\u673a\u5668\u4eba\u5730\u56fe\u6784\u5efa\u548c\u8def\u5f84\u89c4\u5212\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u5bfc\u822a\u7b97\u6cd5\u548c\u89c4\u5212\u5668\u7684\u96c6\u6210\uff0c\u5982Dijkstra\u3001A*\u3001RRT*\u7b49\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u662fROS\u5728\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\uff0c\u8fd9\u4e9b\u5e94\u7528\u4e0d\u4ec5\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\uff0c\u4e5f\u53ef\u4ee5\u4e3a\u81ea\u52a8\u9a7e\u9a76\u3001\u667a\u80fd\u57ce\u5e02\u3001\u79fb\u52a8\u673a\u5668\u4eba\u7b49\u9886\u57df\u63d0\u4f9b\u5f3a\u5927\u7684\u652f\u6301\u548c\u5e73\u53f0\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u56fe\u50cf\u5904\u7406\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9ChatGPT<\/p>\n\n\n\n<p>ROS\u5728\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u65b9\u9762\u4e5f\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\uff0c\u5b83\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u83b7\u53d6\u3001\u5904\u7406\u548c\u5206\u6790\u56fe\u50cf\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u3001\u5206\u7c7b\u7b49\u529f\u80fd\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u5728\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>OpenCV<\/li>\n<\/ol>\n\n\n\n<p>OpenCV\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u8ba1\u7b97\u673a\u89c6\u89c9\u5e93\uff0c\u652f\u6301\u591a\u79cd\u56fe\u50cf\u5904\u7406\u548c\u5206\u6790\u7b97\u6cd5\uff0c\u5982\u56fe\u50cf\u6ee4\u6ce2\u3001\u8fb9\u7f18\u68c0\u6d4b\u3001\u7279\u5f81\u63d0\u53d6\u3001\u76ee\u6807\u68c0\u6d4b\u7b49\u3002ROS\u96c6\u6210\u4e86OpenCV\u5e93\uff0c\u53ef\u4ee5\u5feb\u901f\u83b7\u53d6\u3001\u5904\u7406\u548c\u5206\u6790\u673a\u5668\u4eba\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u7b49\u4f20\u611f\u5668\u6570\u636e\uff0c\u5e76\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u7b49\u529f\u80fd\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>Point Cloud Library (PCL)<\/li>\n<\/ol>\n\n\n\n<p>PCL\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u70b9\u4e91\u5904\u7406\u5e93\uff0c\u652f\u6301\u591a\u79cd\u70b9\u4e91\u6570\u636e\u7684\u5904\u7406\u548c\u5206\u6790\u7b97\u6cd5\uff0c\u5982\u70b9\u4e91\u6ee4\u6ce2\u3001\u7279\u5f81\u63d0\u53d6\u3001\u76ee\u6807\u68c0\u6d4b\u7b49\u3002ROS\u96c6\u6210\u4e86PCL\u5e93\uff0c\u53ef\u4ee5\u5feb\u901f\u83b7\u53d6\u3001\u5904\u7406\u548c\u5206\u6790\u673a\u5668\u4eba\u6fc0\u5149\u96f7\u8fbe\u7b49\u4f20\u611f\u5668\u6570\u636e\uff0c\u5e76\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u7b49\u529f\u80fd\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>Object Recognition Kitchen (ORK)<\/li>\n<\/ol>\n\n\n\n<p>ORK\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u76ee\u6807\u68c0\u6d4b\u548c\u8bc6\u522b\u5e93\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u548c\u5de5\u5177\uff0c\u5982OpenCV\u3001PCL\u3001Eigen\u7b49\u3002ORK\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u7b49\u529f\u80fd\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u7684\u96c6\u6210\u548c\u8c03\u6574\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>Robot Vision Toolkit (RVT)<\/li>\n<\/ol>\n\n\n\n<p>RVT\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u673a\u5668\u4eba\u89c6\u89c9\u5de5\u5177\u5305\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u548c\u5de5\u5177\uff0c\u5982OpenCV\u3001PCL\u3001Eigen\u7b49\u3002RVT\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u7b49\u529f\u80fd\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u7684\u96c6\u6210\u548c\u8c03\u6574\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>Robot Perception Library (RPL)<\/li>\n<\/ol>\n\n\n\n<p>RPL\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u673a\u5668\u4eba\u611f\u77e5\u5e93\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u548c\u5de5\u5177\uff0c\u5982OpenCV\u3001PCL\u3001Eigen\u7b49\u3002RPL\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u7b49\u529f\u80fd\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u7684\u96c6\u6210\u548c\u8c03\u6574\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u662fROS\u5728\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\uff0c\u8fd9\u4e9b\u5e94\u7528\u4e0d\u4ec5\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u83b7\u53d6\u3001\u5904\u7406\u548c\u5206\u6790\u56fe\u50cf\u6570\u636e\uff0c\u4e5f\u53ef\u4ee5\u4e3a\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u3001\u5206\u7c7b\u7b49\u529f\u80fd\u63d0\u4f9b\u5f3a<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u5927\u7684\u652f\u6301\u548c\u5e73\u53f0\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u5e94\u7528\u8fd8\u53ef\u4ee5\u4e3a\u673a\u5668\u4eba\u5728\u81ea\u52a8\u9a7e\u9a76\u3001\u667a\u80fd\u57ce\u5e02\u3001\u533b\u7597\u3001\u670d\u52a1\u7b49\u9886\u57df\u7684\u5e94\u7528\u63d0\u4f9b\u5f3a\u5927\u7684\u6280\u672f\u652f\u6301\u548c\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"6\">\n<li>Robotic Operating System for Vision (ROS-V)<\/li>\n<\/ol>\n\n\n\n<p>ROS-V\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u89c6\u89c9\u5904\u7406\u548c\u5206\u6790\u7cfb\u7edf\uff0c\u5b83\u652f\u6301\u591a\u79cd\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u7b97\u6cd5\uff0c\u5982\u56fe\u50cf\u6ee4\u6ce2\u3001\u8fb9\u7f18\u68c0\u6d4b\u3001\u7279\u5f81\u63d0\u53d6\u3001\u76ee\u6807\u68c0\u6d4b\u7b49\u3002ROS-V\u8fd8\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u4f20\u611f\u5668\u7684\u96c6\u6210\u548c\u5904\u7406\uff0c\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001RGB-D\u76f8\u673a\u7b49\u3002ROS-V\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u89c6\u89c9\u5bfc\u822a\u3001\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u7b49\u529f\u80fd\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u7684\u96c6\u6210\u548c\u8c03\u6574\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"7\">\n<li>Open Robot Vision Library (ORViL)<\/li>\n<\/ol>\n\n\n\n<p>ORViL\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u5f00\u653e\u5f0f\u673a\u5668\u4eba\u89c6\u89c9\u5e93\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u548c\u5de5\u5177\uff0c\u5982OpenCV\u3001PCL\u3001Eigen\u7b49\u3002ORViL\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u7b49\u529f\u80fd\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u7b97\u6cd5\u7684\u96c6\u6210\u548c\u8c03\u6574\u3002ORViL\u8fd8\u96c6\u6210\u4e86\u591a\u79cd\u673a\u5668\u4eba\u89c6\u89c9\u4f20\u611f\u5668\u7684\u9a71\u52a8\u7a0b\u5e8f\uff0c\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001RGB-D\u76f8\u673a\u7b49\uff0c\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u83b7\u53d6\u3001\u5904\u7406\u548c\u5206\u6790\u591a\u79cd\u89c6\u89c9\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u662fROS\u5728\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u65b9\u9762\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\uff0c\u8fd9\u4e9b\u5e94\u7528\u4e0d\u4ec5\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u83b7\u53d6\u3001\u5904\u7406\u548c\u5206\u6790\u56fe\u50cf\u6570\u636e\uff0c\u4e5f\u53ef\u4ee5\u4e3a\u673a\u5668\u4eba\u7684\u76ee\u6807\u68c0\u6d4b\u3001\u8bc6\u522b\u3001\u8ddf\u8e2a\u3001\u5206\u7c7b\u7b49\u529f\u80fd\u63d0\u4f9b\u5f3a\u5927\u7684\u652f\u6301\u548c\u5e73\u53f0\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u5e94\u7528\u8fd8\u53ef\u4ee5\u4e3a\u673a\u5668\u4eba\u5728\u81ea\u52a8\u9a7e\u9a76\u3001\u667a\u80fd\u57ce\u5e02\u3001\u533b\u7597\u3001\u670d\u52a1\u7b49\u9886\u57df\u7684\u5e94\u7528\u63d0\u4f9b\u5f3a\u5927\u7684\u6280\u672f\u652f\u6301\u548c\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u7684\u96c6\u6210Gazebo\u6a21\u62df\u5668ChatGPT<\/p>\n\n\n\n<p>Gazebo\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u673a\u5668\u4eba\u4eff\u771f\u5668\uff0c\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u8fdb\u884c\u673a\u5668\u4eba\u5efa\u6a21\u3001\u4eff\u771f\u548c\u6d4b\u8bd5\u3002ROS\u4e0eGazebo\u7684\u96c6\u6210\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u673a\u5668\u4eba\u5efa\u6a21\u3001\u4eff\u771f\u548c\u6d4b\u8bd5\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u5f00\u53d1\u548c\u90e8\u7f72\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u4e0eGazebo\u7684\u96c6\u6210\u548c\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>ROS\u548cGazebo\u7684\u96c6\u6210<\/li>\n<\/ol>\n\n\n\n<p>ROS\u548cGazebo\u7684\u96c6\u6210\u662f\u901a\u8fc7ROS\u4e2d\u7684Gazebo\u63d2\u4ef6\u5b9e\u73b0\u7684\uff0c\u8be5\u63d2\u4ef6\u53ef\u4ee5\u5c06ROS\u8282\u70b9\u548cGazebo\u4eff\u771f\u5668\u8fde\u63a5\u8d77\u6765\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u7684\u63a7\u5236\u3001\u4f20\u611f\u5668\u6570\u636e\u7684\u5904\u7406\u548c\u4eff\u771f\u73af\u5883\u7684\u6784\u5efa\u66f4\u52a0\u9ad8\u6548\u548c\u4fbf\u6377\u3002\u901a\u8fc7ROS\u548cGazebo\u7684\u96c6\u6210\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u8fdb\u884c\u673a\u5668\u4eba\u5efa\u6a21\u3001\u4eff\u771f\u548c\u6d4b\u8bd5\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u5f00\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>Gazebo\u6a21\u62df\u5668<\/li>\n<\/ol>\n\n\n\n<p>Gazebo\u6a21\u62df\u5668\u662f\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u673a\u5668\u4eba\u4eff\u771f\u5668\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u6a21\u578b\u548c\u73af\u5883\u7684\u6784\u5efa\u548c\u4eff\u771f\uff0c\u5982\u79fb\u52a8\u673a\u5668\u4eba\u3001\u65e0\u4eba\u673a\u3001\u4eba\u5f62\u673a\u5668\u4eba\u7b49\u3002Gazebo\u6a21\u62df\u5668\u8fd8\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u4f20\u611f\u5668\u548c\u63a7\u5236\u5668\u7684\u96c6\u6210\u548c\u8c03\u8bd5\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001IMU\u3001PID\u63a7\u5236\u5668\u7b49\u3002\u901a\u8fc7Gazebo\u6a21\u62df\u5668\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5728\u865a\u62df\u73af\u5883\u4e2d\u8fdb\u884c\u673a\u5668\u4eba\u5efa\u6a21\u3001\u4eff\u771f\u548c\u6d4b\u8bd5\uff0c\u4ece\u800c\u964d\u4f4e\u673a\u5668\u4eba\u5f00\u53d1\u6210\u672c\u548c\u98ce\u9669\u3002<\/p>\n\n\n\n<ol 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u7684RViz\u53ef\u89c6\u5316\u5de5\u5177ChatGPT<\/p>\n\n\n\n<p>RViz\u662f\u4e00\u4e2a\u57fa\u4e8eROS\u7684\u4e09\u7ef4\u53ef\u89c6\u5316\u5de5\u5177\uff0c\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u3001\u7814\u7a76\u4eba\u5458\u548c\u7231\u597d\u8005\u4eec\u5feb\u901f\u53ef\u89c6\u5316\u673a\u5668\u4eba\u7684\u72b6\u6001\u3001\u4f20\u611f\u5668\u6570\u636e\u548c\u73af\u5883\u4fe1\u606f\u3002RViz\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u6a21\u578b\u548c\u4f20\u611f\u5668\u7684\u53ef\u89c6\u5316\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001IMU\u3001GPS\u7b49\uff0c\u5e76\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u63a7\u5236\u548c\u89c4\u5212\u7b97\u6cd5\u7684\u53ef\u89c6\u5316\uff0c\u5982\u8def\u5f84\u89c4\u5212\u3001\u8fd0\u52a8\u63a7\u5236\u3001\u59ff\u6001\u4f30\u8ba1\u7b49\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u4e0eRViz\u7684\u96c6\u6210\u548c\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol 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alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u8c03\u8bd5\u3001\u6d4b\u8bd5\u548c\u90e8\u7f72\u3002\u4f8b\u5982\uff0c\u901a\u8fc7\u5728RViz\u4e2d\u53ef\u89c6\u5316\u65e0\u4eba\u673a\u7684\u8fd0\u52a8\u8f68\u8ff9\u3001\u59ff\u6001\u3001\u4f20\u611f\u5668\u6570\u636e\u548c\u73af\u5883\u4fe1\u606f\uff0c\u53ef\u4ee5\u65b9\u4fbf\u65e0\u4eba\u673a\u5f00\u53d1\u4eba\u5458\u4e86\u89e3\u65e0\u4eba\u673a\u7684\u8fd0\u52a8\u72b6\u6001\u548c\u73af\u5883\u4fe1\u606f\uff0c\u4ece\u800c\u52a0\u901f\u65e0\u4eba\u673a\u5e94\u7528\u7684\u5f00\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<p>c. 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u7684MoveIt!\u8fd0\u52a8\u89c4\u5212\u5e93ChatGPT<\/p>\n\n\n\n<p>MoveIt!\u662fROS\u4e2d\u6700\u5e38\u7528\u7684\u8fd0\u52a8\u89c4\u5212\u5e93\u4e4b\u4e00\uff0c\u5b83\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u548c\u7814\u7a76\u4eba\u5458\u5feb\u901f\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u3001\u8def\u5f84\u89c4\u5212\u548c\u8fd0\u52a8\u63a7\u5236\u7b49\u529f\u80fd\u3002MoveIt!\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u6a21\u578b\u548c\u8fd0\u52a8\u63a7\u5236\u5668\uff0c\u5e76\u63d0\u4f9b\u4e86\u591a\u79cd\u8fd0\u52a8\u89c4\u5212\u7b97\u6cd5\u548c\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u7684\u5b9e\u73b0\uff0c\u5982RRT\u3001PRM\u3001A*\u7b49\uff0c\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5b9e\u73b0\u9ad8\u6548\u3001\u5b89\u5168\u548c\u51c6\u786e\u7684\u8fd0\u52a8\u63a7\u5236\u548c\u89c4\u5212\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u548cMoveIt!\u7684\u96c6\u6210\u548c\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>ROS\u548cMoveIt!\u7684\u96c6\u6210<\/li>\n<\/ol>\n\n\n\n<p>ROS\u548cMoveIt!\u7684\u96c6\u6210\u662f\u901a\u8fc7ROS\u4e2d\u7684MoveIt!\u63d2\u4ef6\u5b9e\u73b0\u7684\uff0c\u8be5\u63d2\u4ef6\u53ef\u4ee5\u5c06ROS\u8282\u70b9\u548cMoveIt!\u8fd0\u52a8\u89c4\u5212\u5e93\u8fde\u63a5\u8d77\u6765\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u3001\u8def\u5f84\u89c4\u5212\u548c\u8fd0\u52a8\u63a7\u5236\u66f4\u52a0\u9ad8\u6548\u3001\u5b89\u5168\u548c\u51c6\u786e\u3002\u901a\u8fc7ROS\u548cMoveIt!\u7684\u96c6\u6210\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u8fdb\u884c\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u548c\u8def\u5f84\u89c4\u5212\uff0c\u4ece\u800c\u65b9\u4fbf\u673a\u5668\u4eba\u7684\u63a7\u5236\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>MoveIt!\u8fd0\u52a8\u89c4\u5212\u5e93<\/li>\n<\/ol>\n\n\n\n<p>MoveIt!\u8fd0\u52a8\u89c4\u5212\u5e93\u662fROS\u4e2d\u6700\u5e38\u7528\u7684\u8fd0\u52a8\u89c4\u5212\u5e93\u4e4b\u4e00\uff0c\u5b83\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u6a21\u578b\u548c\u8fd0\u52a8\u63a7\u5236\u5668\uff0c\u5e76\u63d0\u4f9b\u4e86\u591a\u79cd\u8fd0\u52a8\u89c4\u5212\u7b97\u6cd5\u548c\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u7684\u5b9e\u73b0\uff0c\u5982RRT\u3001PRM\u3001A*\u7b49\u3002MoveIt!\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5b9e\u73b0\u9ad8\u6548\u3001\u5b89\u5168\u548c\u51c6\u786e\u7684\u8fd0\u52a8\u63a7\u5236\u548c\u89c4\u5212\uff0c\u4f8b\u5982\u5728\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u79fb\u52a8\u3001\u76ee\u6807\u6293\u53d6\u3001\u7269\u4f53\u642c\u8fd0\u7b49\u5e94\u7528\u4e2d\u3002\u901a\u8fc7MoveIt!\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u548c\u8def\u5f84\u89c4\u5212\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>ROS\u548cMoveIt!\u7684\u5e94\u7528\u6848\u4f8b<\/li>\n<\/ol>\n\n\n\n<p>ROS\u548cMoveIt!\u7684\u96c6\u6210\u5728\u673a\u5668\u4eba\u5e94\u7528\u5f00\u53d1\u548c\u6d4b\u8bd5\u4e2d\u6709\u7740\u5e7f\u6cdb\u7684\u5e94\u7528\uff0c\u4e0b\u9762\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u548cMoveIt!\u5728\u5de5\u4e1a\u673a\u5668\u4eba\u3001\u670d\u52a1\u673a\u5668\u4eba\u548c\u533b\u7597\u673a\u5668\u4eba\u7b49\u9886\u57df\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<p>a. 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src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u4eba\u9886\u57df\uff0cROS\u548cMoveIt!\u7684\u96c6\u6210\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u5b9e\u73b0\u670d\u52a1\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u3001\u8def\u5f84\u89c4\u5212\u548c\u8fd0\u52a8\u63a7\u5236\u7b49\u529f\u80fd\u3002\u4f8b\u5982\uff0c\u5728\u5bb6\u5ead\u670d\u52a1\u673a\u5668\u4eba\u5e94\u7528\u4e2d\uff0c\u901a\u8fc7\u4f7f\u7528ROS\u548cMoveIt!\uff0c\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u79fb\u52a8\u3001\u76ee\u6807\u6293\u53d6\u548c\u7269\u4f53\u642c\u8fd0\u7b49\u529f\u80fd\uff0c\u4ece\u800c\u65b9\u4fbf\u5bb6\u5ead\u4e2d\u7684\u8001\u5e74\u4eba\u548c\u6b8b\u969c\u4eba\u58eb\u7684\u751f\u6d3b\u3002\u901a\u8fc7ROS\u548cMoveIt!\u7684\u96c6\u6210\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u5b9e\u73b0\u670d\u52a1\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u548c\u8def\u5f84\u89c4\u5212\uff0c\u4ece\u800c\u52a0\u901f\u670d\u52a1\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<p>c. 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u7684OpenCV\u56fe\u50cf\u5904\u7406\u5e93ChatGPT<\/p>\n\n\n\n<p>OpenCV\u662f\u4e00\u79cd\u5e7f\u6cdb\u4f7f\u7528\u7684\u5f00\u6e90\u8ba1\u7b97\u673a\u89c6\u89c9\u5e93\uff0c\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u5b9e\u73b0\u5404\u79cd\u8ba1\u7b97\u673a\u89c6\u89c9\u548c\u56fe\u50cf\u5904\u7406\u7b97\u6cd5\u3002ROS\u548cOpenCV\u7684\u96c6\u6210\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u76f8\u5173\u7684\u5e94\u7528\uff0c\u4f8b\u5982\u76ee\u6807\u68c0\u6d4b\u3001\u7269\u4f53\u8bc6\u522b\u3001\u4eba\u8138\u8bc6\u522b\u3001\u56fe\u50cf\u5206\u7c7b\u7b49\u3002\u4e0b\u9762\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u548cOpenCV\u7684\u96c6\u6210\u4ee5\u53ca\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>ROS\u548cOpenCV\u7684\u96c6\u6210<\/li>\n<\/ol>\n\n\n\n<p>ROS\u548cOpenCV\u7684\u96c6\u6210\u662f\u901a\u8fc7ROS\u4e2d\u7684image_transport\u6a21\u5757\u5b9e\u73b0\u7684\uff0c\u8be5\u6a21\u5757\u53ef\u4ee5\u5c06ROS\u8282\u70b9\u548cOpenCV\u56fe\u50cf\u5904\u7406\u5e93\u8fde\u63a5\u8d77\u6765\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u7684\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u66f4\u52a0\u9ad8\u6548\u3001\u7cbe\u51c6\u548c\u53ef\u9760\u3002\u901a\u8fc7ROS\u548cOpenCV\u7684\u96c6\u6210\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u8fdb\u884c\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u76f8\u5173\u7684\u5e94\u7528\uff0c\u4f8b\u5982\u76ee\u6807\u68c0\u6d4b\u3001\u7269\u4f53\u8bc6\u522b\u3001\u4eba\u8138\u8bc6\u522b\u3001\u56fe\u50cf\u5206\u7c7b\u7b49\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>OpenCV\u56fe\u50cf\u5904\u7406\u5e93<\/li>\n<\/ol>\n\n\n\n<p>OpenCV\u56fe\u50cf\u5904\u7406\u5e93\u662f\u4e00\u79cd\u5e7f\u6cdb\u4f7f\u7528\u7684\u8ba1\u7b97\u673a\u89c6\u89c9\u5e93\uff0c\u5b83\u652f\u6301\u591a\u79cd\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u7b97\u6cd5\u7684\u5b9e\u73b0\uff0c\u5982\u7279\u5f81\u63d0\u53d6\u3001\u56fe\u50cf\u5206\u5272\u3001\u76ee\u6807\u68c0\u6d4b\u7b49\u3002OpenCV\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u76f8\u5173\u7684\u5e94\u7528\uff0c\u4f8b\u5982\u76ee\u6807\u68c0\u6d4b\u3001\u7269\u4f53\u8bc6\u522b\u3001\u4eba\u8138\u8bc6\u522b\u3001\u56fe\u50cf\u5206\u7c7b\u7b49\u3002\u901a\u8fc7OpenCV\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u5b9e\u73b0\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u76f8\u5173\u7684\u5e94\u7528\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>ROS\u548cOpenCV\u7684\u5e94\u7528\u6848\u4f8b<\/li>\n<\/ol>\n\n\n\n<p>ROS\u548cOpenCV\u7684\u96c6\u6210\u5728\u673a\u5668\u4eba\u5e94\u7528\u5f00\u53d1\u548c\u6d4b\u8bd5\u4e2d\u6709\u7740\u5e7f\u6cdb\u7684\u5e94\u7528\uff0c\u4e0b\u9762\u6211\u4eec\u5c06\u4ecb\u7ecdROS\u548cOpenCV\u5728\u65e0\u4eba\u8f66\u3001\u670d\u52a1\u673a\u5668\u4eba\u548c\u5de5\u4e1a\u673a\u5668\u4eba\u7b49\u9886\u57df\u7684\u4e00\u4e9b\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<\/p>\n\n\n\n<p>a. 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alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u5668\u4eba\u5e94\u7528\u4e2d\uff0c\u901a\u8fc7\u4f7f\u7528ROS\u548cOpenCV\uff0c\u53ef\u4ee5\u5b9e\u73b0\u670d\u52a1\u673a\u5668\u4eba\u7684\u4eba\u8138\u8bc6\u522b\u3001\u7269\u4f53\u8bc6\u522b\u548c\u59ff\u6001\u4f30\u8ba1\u7b49\u529f\u80fd\uff0c\u4ece\u800c\u65b9\u4fbf\u5bb6\u5ead\u4e2d\u7684\u8001\u5e74\u4eba\u548c\u6b8b\u969c\u4eba\u58eb\u7684\u751f\u6d3b\u3002\u901a\u8fc7ROS\u548cOpenCV\u7684\u96c6\u6210\uff0c\u673a\u5668\u4eba\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u5b9e\u73b0\u670d\u52a1\u673a\u5668\u4eba\u7684\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u76f8\u5173\u7684\u5e94\u7528\uff0c\u4ece\u800c\u52a0\u901f\u670d\u52a1\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<p>c. 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u7684\u4ee3\u7801\u7ed3\u6784\u548c\u6a21\u5757\u5316ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u4ee3\u7801\u7ed3\u6784\u548c\u6a21\u5757\u5316\u662f\u5b9e\u73b0\u53ef\u91cd\u7528\u548c\u53ef\u6269\u5c55\u673a\u5668\u4eba\u5e94\u7528\u7684\u5173\u952e\u3002\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u7f16\u5199\u548c\u8c03\u8bd5ROS\u4ee3\u7801\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4ee3\u7801\u7ed3\u6784<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u4ee3\u7801\u7ed3\u6784\u901a\u5e38\u6309\u7167ROS\u5305\u7684\u7ed3\u6784\u7ec4\u7ec7\uff0c\u6bcf\u4e2aROS\u5305\u5305\u542b\u4e00\u4e2a\u6216\u591a\u4e2a\u8282\u70b9\u3001\u6d88\u606f\u548c\u670d\u52a1\u5b9a\u4e49\u3001\u53c2\u6570\u914d\u7f6e\u548c\u542f\u52a8\u6587\u4ef6\u7b49\u3002\u901a\u5e38\uff0cROS\u5305\u7684\u76ee\u5f55\u7ed3\u6784\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cssCopy code<code>package_name\/\n    CMakeLists.txt\n    package.xml\n    src\/\n        node1.cpp\n        node2.cpp\n        ...\n    include\/\n        package_name\/\n            header1.h\n            header2.h\n            ...\n    msg\/\n        Message1.msg\n        Message2.msg\n        ...\n    srv\/\n        Service1.srv\n        Service2.srv\n        ...\n    launch\/\n        launchfile1.launch\n        launchfile2.launch\n        ...\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0cCMakeLists.txt\u548cpackage.xml\u6587\u4ef6\u662fROS\u5305\u5fc5\u9700\u7684\u6587\u4ef6\uff0c\u5b83\u4eec\u7528\u4e8e\u5b9a\u4e49ROS\u5305\u7684\u4f9d\u8d56\u5173\u7cfb\u3001\u7f16\u8bd1\u9009\u9879\u548c\u63cf\u8ff0\u4fe1\u606f\u7b49\u3002src\u76ee\u5f55\u5305\u542bROS\u8282\u70b9\u7684\u6e90\u4ee3\u7801\uff0cinclude\u76ee\u5f55\u5305\u542bROS\u8282\u70b9\u7684\u5934\u6587\u4ef6\uff0cmsg\u548csrv\u76ee\u5f55\u5206\u522b\u5305\u542b\u81ea\u5b9a\u4e49\u7684\u6d88\u606f\u548c\u670d\u52a1\u5b9a\u4e49\uff0claunch\u76ee\u5f55\u5305\u542b\u542f\u52a8\u6587\u4ef6\u3002\u901a\u8fc7\u6309\u7167ROS\u5305\u7684\u7ed3\u6784\u7ec4\u7ec7\u4ee3\u7801\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u7ba1\u7406\u548c\u91cd\u7528\u4ee3\u7801\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u6a21\u5757\u5316<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u6a21\u5757\u5316\u662f\u5b9e\u73b0\u53ef\u91cd\u7528\u548c\u53ef\u6269\u5c55\u673a\u5668\u4eba\u5e94\u7528\u7684\u5173\u952e\u3002\u901a\u8fc7\u5c06\u673a\u5668\u4eba\u5e94\u7528\u5206\u89e3\u4e3a\u591a\u4e2a\u6a21\u5757\uff0c\u6bcf\u4e2a\u6a21\u5757\u53ea\u8d1f\u8d23\u5904\u7406\u7279\u5b9a\u7684\u4efb\u52a1\u6216\u529f\u80fd\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u5bb9\u6613\u5730\u7f16\u5199\u3001\u6d4b\u8bd5\u548c\u91cd\u7528\u4ee3\u7801\u3002\u5728ROS\u4e2d\uff0c\u6a21\u5757\u901a\u5e38\u901a\u8fc7ROS\u8282\u70b9\u5b9e\u73b0\uff0c\u6bcf\u4e2a\u8282\u70b9\u53ea\u8d1f\u8d23\u5904\u7406\u7279\u5b9a\u7684\u4efb\u52a1\u6216\u529f\u80fd\u3002\u901a\u8fc7\u4f7f\u7528\u6d88\u606f\u548c\u670d\u52a1\u901a\u4fe1\u673a\u5236\uff0c\u4e0d\u540c\u7684\u8282\u70b9\u53ef\u4ee5\u4e92\u76f8\u901a\u4fe1\u548c\u4ea4\u6362\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u5206\u5e03\u5f0f\u5904\u7406\u548c\u534f\u4f5c\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u7f16\u5199\u548c\u8c03\u8bd5ROS\u4ee3\u7801\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002\u4e0b\u9762\u4ecb\u7ecd\u51e0\u4e2a\u5e38\u7528\u7684\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528roslint\u5de5\u5177\u8fdb\u884c\u4ee3\u7801\u98ce\u683c\u68c0\u67e5\u548c\u683c\u5f0f\u5316\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528roscpp\u548crospy\u4e2d\u7684log\u529f\u80fd\u8fdb\u884c\u65e5\u5fd7\u8bb0\u5f55\u548c\u8c03\u8bd5\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528rostopic\u548crostopic echo\u7b49\u547d\u4ee4\u8fdb\u884c\u6d88\u606f\u548c\u4e3b\u9898\u7684\u8c03\u8bd5\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528rosbag\u5de5\u5177\u8fdb\u884c\u6570\u636e\u8bb0\u5f55\u548c\u56de\u653e\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528rviz\u53ef\u89c6\u5316\u5de5\u5177\u8fdb\u884cROS\u8282\u70b9\u7684\u8c03\u8bd5\u548c\u53ef\u89c6\u5316\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528rosdep\u5de5\u5177\u8fdb\u884cROS\u5305\u7684\u4f9d\u8d56\u7ba1\u7406<\/li>\n<\/ul>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528catkin\u5de5\u5177\u8fdb\u884cROS\u5305\u7684\u7f16\u8bd1\u548c\u6784\u5efa\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528launch\u6587\u4ef6\u8fdb\u884cROS\u8282\u70b9\u7684\u542f\u52a8\u548c\u53c2\u6570\u914d\u7f6e\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u548c\u914d\u7f6e\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u52a8\u6001\u91cd\u8f7d\u529f\u80fd\u8fdb\u884c\u8282\u70b9\u4ee3\u7801\u7684\u4fee\u6539\u548c\u66f4\u65b0\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u52a8\u6001\u8c03\u8bd5\u5de5\u5177\u8fdb\u884cROS\u8282\u70b9\u7684\u5728\u7ebf\u8c03\u8bd5\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u4e2d\u7684\u7248\u672c\u63a7\u5236\u5de5\u5177\uff08\u4f8b\u5982Git\uff09\u8fdb\u884c\u4ee3\u7801\u7ba1\u7406\u548c\u534f\u4f5c\u3002<\/li>\n\n\n\n<li>\u7f16\u5199\u6e05\u6670\u3001\u6613\u8bfb\u548c\u53ef\u91cd\u7528\u7684\u4ee3\u7801\uff0c\u907f\u514d\u4f7f\u7528\u5168\u5c40\u53d8\u91cf\u548c\u590d\u6742\u7684\u903b\u8f91\u3002<\/li>\n\n\n\n<li>\u5728ROS\u8282\u70b9\u4e2d\u4f7f\u7528ROS\u7684\u5f02\u5e38\u5904\u7406\u673a\u5236\uff0c\u907f\u514d\u4ee3\u7801\u5d29\u6e83\u6216\u6b7b\u9501\u3002<\/li>\n\n\n\n<li>\u5728ROS\u5305\u4e2d\u4f7f\u7528\u6d4b\u8bd5\u9a71\u52a8\u5f00\u53d1\uff08TDD\uff09\u7684\u65b9\u6cd5\u8fdb\u884c\u5355\u5143\u6d4b\u8bd5\u548c\u96c6\u6210\u6d4b\u8bd5\u3002<\/li>\n\n\n\n<li>\u907f\u514d\u8fc7\u5ea6\u4f7f\u7528ROS\u6d88\u606f\u548c\u670d\u52a1\u901a\u4fe1\u673a\u5236\uff0c\u907f\u514d\u6d88\u606f\u4f20\u9012\u5ef6\u8fdf\u548c\u7f51\u7edc\u62e5\u585e\u3002<\/li>\n\n\n\n<li>\u5728ROS\u8282\u70b9\u4e2d\u4f7f\u7528\u591a\u7ebf\u7a0b\u6216\u5f02\u6b65\u7f16\u7a0b\u6280\u672f\uff0c\u63d0\u9ad8\u4ee3\u7801\u7684\u5e76\u53d1\u6027\u548c\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u9ad8\u6548\u5730\u7f16\u5199\u548c\u8c03\u8bd5ROS\u4ee3\u7801\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002\u540c\u65f6\uff0c\u8fd9\u4e9b\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u4e5f\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u597d\u5730\u7ba1\u7406\u548c\u7ef4\u62a4ROS\u4ee3\u7801\uff0c\u63d0\u9ad8\u673a\u5668\u4eba\u5e94\u7528\u7684\u8d28\u91cf\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u7684\u8282\u70b9\u95f4\u901a\u4fe1\u548c\u540c\u6b65ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u8282\u70b9\u95f4\u901a\u4fe1\u548c\u540c\u6b65\u662f\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u5173\u952e\u3002\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u5b9e\u73b0\u8282\u70b9\u95f4\u901a\u4fe1\u548c\u540c\u6b65\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u8282\u70b9\u95f4\u901a\u4fe1<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u8282\u70b9\u95f4\u901a\u4fe1\u901a\u5e38\u901a\u8fc7\u6d88\u606f\u548c\u670d\u52a1\u673a\u5236\u5b9e\u73b0\u3002\u901a\u8fc7\u4f7f\u7528\u6d88\u606f\u548c\u670d\u52a1\u673a\u5236\uff0c\u4e0d\u540c\u7684\u8282\u70b9\u53ef\u4ee5\u4e92\u76f8\u901a\u4fe1\u548c\u4ea4\u6362\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u5206\u5e03\u5f0f\u5904\u7406\u548c\u534f\u4f5c\u3002<\/p>\n\n\n\n<p>\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u5b9e\u73b0\u8282\u70b9\u95f4\u901a\u4fe1\u3002\u4e0b\u9762\u4ecb\u7ecd\u51e0\u4e2a\u5e38\u7528\u7684\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9009\u62e9\u5408\u9002\u7684\u6d88\u606f\u548c\u670d\u52a1\u7c7b\u578b\u3002\u5728\u8bbe\u8ba1ROS\u5e94\u7528\u65f6\uff0c\u5e94\u8be5\u6839\u636e\u6570\u636e\u7684\u7c7b\u578b\u548c\u4f20\u8f93\u9700\u6c42\u9009\u62e9\u5408\u9002\u7684\u6d88\u606f\u548c\u670d\u52a1\u7c7b\u578b\u3002\u4f8b\u5982\uff0c\u5f53\u9700\u8981\u9891\u7e41\u4f20\u8f93\u5c0f\u6570\u636e\u65f6\uff0c\u53ef\u4ee5\u9009\u62e9\u4f7f\u7528ROS\u6d88\u606f\u673a\u5236\uff1b\u5f53\u9700\u8981\u4f20\u8f93\u5927\u6570\u636e\u6216\u8fdb\u884c\u8bf7\u6c42\u548c\u54cd\u5e94\u65f6\uff0c\u53ef\u4ee5\u9009\u62e9\u4f7f\u7528ROS\u670d\u52a1\u673a\u5236\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u673a\u5236\u8fdb\u884c\u6d88\u606f\u901a\u4fe1\u3002\u5728ROS\u4e2d\uff0c\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u673a\u5236\u662f\u5b9e\u73b0\u6d88\u606f\u901a\u4fe1\u7684\u4e00\u79cd\u5e38\u89c1\u65b9\u6cd5\u3002\u901a\u8fc7\u4f7f\u7528\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u673a\u5236\uff0c\u4e0d\u540c\u7684\u8282\u70b9\u53ef\u4ee5\u4e92\u76f8\u901a\u4fe1\u548c\u4ea4\u6362\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u5206\u5e03\u5f0f\u5904\u7406\u548c\u534f\u4f5c\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528\u670d\u52a1\u673a\u5236\u8fdb\u884c\u8bf7\u6c42\u548c\u54cd\u5e94\u3002\u5728ROS\u4e2d\uff0c\u670d\u52a1\u673a\u5236\u662f\u5b9e\u73b0\u8bf7\u6c42\u548c\u54cd\u5e94\u7684\u4e00\u79cd\u5e38\u89c1\u65b9\u6cd5\u3002\u901a\u8fc7\u4f7f\u7528\u670d\u52a1\u673a\u5236\uff0c\u4e0d\u540c\u7684\u8282\u70b9\u53ef\u4ee5\u4e92\u76f8\u8bf7\u6c42\u548c\u54cd\u5e94\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u5206\u5e03\u5f0f\u5904\u7406\u548c\u534f\u4f5c\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u53c2\u6570\u914d\u7f6e\u548c\u52a8\u6001\u8c03\u6574\u3002\u5728ROS\u4e2d\uff0cROS\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u548c\u914d\u7f6e\u3002\u901a\u8fc7\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5728\u8282\u70b9\u95f4\u4f20\u9012\u548c\u5171\u4eab\u53c2\u6570\u503c\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u53c2\u6570\u914d\u7f6e\u548c\u8c03\u6574\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u8282\u70b9\u95f4\u540c\u6b65<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u8282\u70b9\u95f4\u540c\u6b65\u901a\u5e38\u901a\u8fc7\u65f6\u95f4\u540c\u6b65\u548c\u6570\u636e\u540c\u6b65\u5b9e\u73b0\u3002\u901a\u8fc7\u65f6\u95f4\u540c\u6b65\u548c\u6570\u636e\u540c\u6b65\uff0c\u4e0d\u540c\u7684\u8282\u70b9\u53ef\u4ee5\u534f\u540c\u5904\u7406\u548c\u5171\u4eab\u6570\u636e\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u534f\u4f5c\u548c\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p>\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u5b9e\u73b0\u8282\u70b9\u95f4\u540c\u6b65\u3002\u4e0b\u9762\u4ecb\u7ecd\u51e0\u4e2a\u5e38\u7528\u7684\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528ROS\u65f6\u949f\u8fdb\u884c\u65f6\u95f4\u540c\u6b65\u3002\u5728ROS\u4e2d\uff0cROS\u65f6\u949f\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884c\u65f6\u95f4\u540c\u6b65\u3002\u901a\u8fc7\u4f7f\u7528ROS\u65f6\u949f\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5c06\u4e0d\u540c\u8282\u70b9\u7684\u6570\u636e\u6309\u7167\u65f6\u95f4\u6233\u8fdb\u884c\u540c\u6b65\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u65f6\u95f4\u540c\u6b65\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS TF\u8fdb\u884c\u5750\u6807\u7cfb\u53d8\u6362\u3002\u5728ROS\u4e2d\uff0cROS TF\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884c\u5750<\/li>\n<\/ul>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u6807\u7cfb\u53d8\u6362\u3002\u901a\u8fc7\u4f7f\u7528ROS TF\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5c06\u4e0d\u540c\u8282\u70b9\u7684\u5750\u6807\u7cfb\u8fdb\u884c\u8f6c\u6362\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u6570\u636e\u540c\u6b65\u3002<\/p>\n\n\n\n<ul 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u7684\u6027\u80fd\u8c03\u4f18\u548c\u5185\u5b58\u7ba1\u7406ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u6027\u80fd\u8c03\u4f18\u548c\u5185\u5b58\u7ba1\u7406\u662f\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u5173\u952e\u3002\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u6027\u80fd\u8c03\u4f18\u548c\u5185\u5b58\u7ba1\u7406\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6027\u80fd\u8c03\u4f18<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u6027\u80fd\u8c03\u4f18\u901a\u5e38\u5305\u62ec\u4f18\u5316\u8282\u70b9\u95f4\u901a\u4fe1\u548c\u540c\u6b65\u3001\u63d0\u9ad8\u8282\u70b9\u5e76\u53d1\u6027\u548c\u6027\u80fd\u3001\u51cf\u5c11\u8d44\u6e90\u6d88\u8017\u548c\u5ef6\u8fdf\u7b49\u65b9\u9762\u3002\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u6027\u80fd\u8c03\u4f18\u3002\u4e0b\u9762\u4ecb\u7ecd\u51e0\u4e2a\u5e38\u7528\u7684\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528ROS\u4e2d\u7684\u5f02\u6b65\u6d88\u606f\u901a\u4fe1\u673a\u5236\uff0c\u63d0\u9ad8\u8282\u70b9\u5e76\u53d1\u6027\u548c\u6027\u80fd\u3002\u5728ROS\u4e2d\uff0c\u5f02\u6b65\u6d88\u606f\u901a\u4fe1\u673a\u5236\u53ef\u4ee5\u63d0\u9ad8\u8282\u70b9\u5e76\u53d1\u6027\u548c\u6027\u80fd\u3002\u901a\u8fc7\u4f7f\u7528ROS\u4e2d\u7684\u5f02\u6b65\u6d88\u606f\u901a\u4fe1\u673a\u5236\uff0c\u8282\u70b9\u53ef\u4ee5\u540c\u65f6\u5904\u7406\u591a\u4e2a\u6d88\u606f\uff0c\u4ece\u800c\u63d0\u9ad8\u8282\u70b9\u5e76\u53d1\u6027\u548c\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u907f\u514d\u8282\u70b9\u95f4\u6d88\u606f\u4f20\u9012\u5ef6\u8fdf\u548c\u7f51\u7edc\u62e5\u585e\u3002\u5728\u8bbe\u8ba1ROS\u5e94\u7528\u65f6\uff0c\u5e94\u8be5\u907f\u514d\u8282\u70b9\u95f4\u6d88\u606f\u4f20\u9012\u5ef6\u8fdf\u548c\u7f51\u7edc\u62e5\u585e\u3002\u4e3a\u4e86\u907f\u514d\u8282\u70b9\u95f4\u6d88\u606f\u4f20\u9012\u5ef6\u8fdf\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u4f7f\u7528ROS\u6d88\u606f\u961f\u5217\u8fdb\u884c\u6d88\u606f\u7f13\u5b58\u548c\u91cd\u53d1\uff1b\u4e3a\u4e86\u907f\u514d\u7f51\u7edc\u62e5\u585e\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5c06\u6d88\u606f\u538b\u7f29\u548c\u4f18\u5316\u4f20\u8f93\u65b9\u5f0f\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u6d88\u606f\u548c\u670d\u52a1\u7684\u5f02\u6b65\u8c03\u7528\u673a\u5236\u3002\u5728ROS\u4e2d\uff0c\u6d88\u606f\u548c\u670d\u52a1\u7684\u5f02\u6b65\u8c03\u7528\u673a\u5236\u53ef\u4ee5\u63d0\u9ad8\u8282\u70b9\u5e76\u53d1\u6027\u548c\u6027\u80fd\u3002\u901a\u8fc7\u4f7f\u7528\u6d88\u606f\u548c\u670d\u52a1\u7684\u5f02\u6b65\u8c03\u7528\u673a\u5236\uff0c\u8282\u70b9\u53ef\u4ee5\u540c\u65f6\u8fdb\u884c\u591a\u4e2a\u8c03\u7528\uff0c\u4ece\u800c\u63d0\u9ad8\u8282\u70b9\u5e76\u53d1\u6027\u548c\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u548c\u914d\u7f6e\u3002\u5728ROS\u4e2d\uff0cROS\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u548c\u914d\u7f6e\u3002\u901a\u8fc7\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5728\u8282\u70b9\u95f4\u4f20\u9012\u548c\u5171\u4eab\u53c2\u6570\u503c\uff0c\u4ece\u800c\u5b9e\u73b0\u673a\u5668\u4eba\u5e94\u7528\u7684\u53c2\u6570\u914d\u7f6e\u548c\u8c03\u6574\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u52a8\u6001\u91cd\u8f7d\u529f\u80fd\u8fdb\u884c\u8282\u70b9\u4ee3\u7801\u7684\u4fee\u6539\u548c\u66f4\u65b0\u3002\u5728ROS\u4e2d\uff0cROS\u52a8\u6001\u91cd\u8f7d\u529f\u80fd\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884c\u8282\u70b9\u4ee3\u7801\u7684\u4fee\u6539\u548c\u66f4\u65b0\u3002\u901a\u8fc7\u4f7f\u7528ROS\u52a8\u6001\u91cd\u8f7d\u529f\u80fd\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5728\u4e0d\u505c\u6b62\u8282\u70b9\u7684\u60c5\u51b5\u4e0b\u66f4\u65b0\u8282\u70b9\u4ee3\u7801\uff0c\u4ece\u800c\u63d0\u9ad8\u8282\u70b9\u7684\u53ef\u7528\u6027\u548c\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>\u5185\u5b58\u7ba1\u7406<\/li>\n<\/ol>\n\n\n\n<p>\u5728ROS\u4e2d\uff0c\u5185\u5b58\u7ba1\u7406\u901a\u5e38\u5305\u62ec\u4f18\u5316\u8282\u70b9\u5185\u5b58\u5360\u7528\u3001\u51cf\u5c11\u5185\u5b58\u6cc4\u6f0f\u548c\u63d0\u9ad8\u4ee3\u7801\u5065\u58ee\u6027\u7b49\u65b9\u9762\u3002\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u5185\u5b58\u7ba1\u7406\u3002\u4e0b\u9762\u4ecb\u7ecd\u51e0\u4e2a\u5e38\u7528\u7684\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u907f\u514d\u4f7f\u7528\u5168\u5c40\u53d8\u91cf\u548c\u590d\u6742\u7684\u903b\u8f91\u3002\u5728\u7f16\u5199ROS\u8282\u70b9\u65f6\uff0c\u5e94\u8be5\u907f\u514d\u4f7f\u7528<\/li>\n<\/ul>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u7ee7\u7eedChatGPT<\/p>\n\n\n\n<p>\u5168\u5c40\u53d8\u91cf\u548c\u590d\u6742\u7684\u903b\u8f91\uff0c\u8fd9\u4e9b\u5f80\u5f80\u4f1a\u5bfc\u81f4\u8282\u70b9\u5185\u5b58\u5360\u7528\u8fc7\u9ad8\u548c\u4ee3\u7801\u96be\u4ee5\u7ef4\u62a4\u3002\u5f00\u53d1\u4eba\u5458\u5e94\u8be5\u5c06\u8282\u70b9\u4ee3\u7801\u5206\u89e3\u6210\u66f4\u5c0f\u3001\u66f4\u7b80\u5355\u7684\u90e8\u5206\uff0c\u907f\u514d\u4f7f\u7528\u5168\u5c40\u53d8\u91cf\u548c\u8fc7\u4e8e\u590d\u6742\u7684\u903b\u8f91\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u548c\u914d\u7f6e\u3002\u5728ROS\u4e2d\uff0cROS\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884c\u52a8\u6001\u53c2\u6570\u8c03\u6574\u548c\u914d\u7f6e\u3002\u901a\u8fc7\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5728\u8282\u70b9\u95f4\u4f20\u9012\u548c\u5171\u4eab\u53c2\u6570\u503c\uff0c\u4ece\u800c\u51cf\u5c11\u8282\u70b9\u5185\u5b58\u5360\u7528\u548c\u63d0\u9ad8\u4ee3\u7801\u5065\u58ee\u6027\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u4e2d\u7684\u5185\u5b58\u6c60\u6280\u672f\u3002\u5728ROS\u4e2d\uff0c\u5185\u5b58\u6c60\u6280\u672f\u53ef\u4ee5\u51cf\u5c11\u5185\u5b58\u5206\u914d\u548c\u91ca\u653e\u7684\u6b21\u6570\uff0c\u4ece\u800c\u63d0\u9ad8\u8282\u70b9\u5185\u5b58\u4f7f\u7528\u6548\u7387\u3002\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u4f7f\u7528ROS\u4e2d\u7684\u5185\u5b58\u6c60\u6280\u672f\u6765\u7ba1\u7406\u8282\u70b9\u5185\u5b58\uff0c\u4ece\u800c\u51cf\u5c11\u5185\u5b58\u5360\u7528\u548c\u5185\u5b58\u6cc4\u6f0f\u7684\u98ce\u9669\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528ROS\u4e2d\u7684\u6027\u80fd\u5206\u6790\u5de5\u5177\u8fdb\u884c\u8282\u70b9\u6027\u80fd\u5206\u6790\u3002\u5728ROS\u4e2d\uff0c\u6027\u80fd\u5206\u6790\u5de5\u5177\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u8bc6\u522b\u8282\u70b9\u6027\u80fd\u74f6\u9888\u548c\u4f18\u5316\u8282\u70b9\u6027\u80fd\u3002\u901a\u8fc7\u4f7f\u7528ROS\u4e2d\u7684\u6027\u80fd\u5206\u6790\u5de5\u5177\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u6027\u80fd\u4f18\u5316\uff0c\u4ece\u800c\u63d0\u9ad8\u673a\u5668\u4eba\u5e94\u7528\u7684\u6027\u80fd\u548c\u53ef\u9760\u6027\u3002<\/li>\n\n\n\n<li>\u907f\u514dROS\u6d88\u606f\u7684\u62f7\u8d1d\u548c\u4e0d\u5fc5\u8981\u7684\u6570\u636e\u4f20\u8f93\u3002\u5728\u8bbe\u8ba1ROS\u5e94\u7528\u65f6\uff0c\u5e94\u8be5\u907f\u514dROS\u6d88\u606f\u7684\u62f7\u8d1d\u548c\u4e0d\u5fc5\u8981\u7684\u6570\u636e\u4f20\u8f93\u3002\u4e3a\u4e86\u907f\u514dROS\u6d88\u606f\u7684\u62f7\u8d1d\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u4f7f\u7528ROS\u6d88\u606f\u6307\u9488\uff1b\u4e3a\u4e86\u907f\u514d\u4e0d\u5fc5\u8981\u7684\u6570\u636e\u4f20\u8f93\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5c06ROS\u6d88\u606f\u538b\u7f29\u548c\u4f18\u5316\u4f20\u8f93\u65b9\u5f0f\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u9075\u5faa\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u9ad8\u6548\u5730\u8fdb\u884c\u6027\u80fd\u8c03\u4f18\u548c\u5185\u5b58\u7ba1\u7406\uff0c\u4ece\u800c\u52a0\u901f\u673a\u5668\u4eba\u5e94\u7528\u7684\u7814\u53d1\u548c\u90e8\u7f72\u3002\u540c\u65f6\uff0c\u8fd9\u4e9b\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u4e5f\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u66f4\u597d\u5730\u7ba1\u7406\u548c\u7ef4\u62a4ROS\u4ee3\u7801\uff0c\u63d0\u9ad8\u673a\u5668\u4eba\u5e94\u7528\u7684\u8d28\u91cf\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\u7684\u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u5de5\u5177ChatGPT<\/p>\n\n\n\n<p>\u5728ROS\u5f00\u53d1\u8fc7\u7a0b\u4e2d\uff0c\u9047\u5230\u9519\u8bef\u548cbug\u662f\u4e0d\u53ef\u907f\u514d\u7684\u3002\u4e3a\u4e86\u66f4\u5feb\u901f\u3001\u9ad8\u6548\u5730\u89e3\u51b3\u9519\u8bef\u548c\u8c03\u8bd5\u95ee\u9898\uff0cROS\u5f00\u53d1\u4eba\u5458\u9700\u8981\u638c\u63e1\u4e00\u4e9b\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff0c\u540c\u65f6\u638c\u63e1\u4e00\u4e9b\u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u5de5\u5177\u3002\u4e0b\u9762\u4ecb\u7ecd\u4e00\u4e9b\u5e38\u7528\u7684ROS\u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u5de5\u5177\u548c\u6280\u5de7\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>roslaunch\u548croslaunch\u53c2\u6570<\/li>\n<\/ol>\n\n\n\n<p>roslaunch\u662fROS\u4e2d\u5e38\u7528\u7684\u542f\u52a8\u6587\u4ef6\u7ba1\u7406\u5de5\u5177\uff0c\u53ef\u4ee5\u81ea\u52a8\u542f\u52a8\u591a\u4e2a\u8282\u70b9\u548c\u914d\u7f6e\u6587\u4ef6\u3002\u901a\u8fc7roslaunch\u53c2\u6570\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u597d\u5730\u8c03\u8bd5\u548c\u6392\u67e5\u8282\u70b9\u95ee\u9898\u3002\u5e38\u7528\u7684roslaunch\u53c2\u6570\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>launch-prefix\uff1a\u6307\u5b9a\u8282\u70b9\u7684\u542f\u52a8\u547d\u4ee4\uff0c\u53ef\u4ee5\u7528\u4e8e\u8c03\u8bd5\u548c\u6392\u67e5\u8282\u70b9\u542f\u52a8\u95ee\u9898\uff1b<\/li>\n\n\n\n<li>respawn\uff1a\u6307\u5b9a\u8282\u70b9\u5728\u9000\u51fa\u540e\u662f\u5426\u81ea\u52a8\u91cd\u542f\uff0c\u53ef\u4ee5\u7528\u4e8e\u8c03\u8bd5\u548c\u6392\u67e5\u8282\u70b9\u5d29\u6e83\u95ee\u9898\uff1b<\/li>\n\n\n\n<li>output\uff1a\u6307\u5b9a\u8282\u70b9\u8f93\u51fa\u4fe1\u606f\u7684\u683c\u5f0f\u548c\u7ea7\u522b\uff0c\u53ef\u4ee5\u7528\u4e8e\u8c03\u8bd5\u548c\u6392\u67e5\u8282\u70b9\u8f93\u51fa\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>ROS\u65e5\u5fd7<\/li>\n<\/ol>\n\n\n\n<p>ROS\u63d0\u4f9b\u4e86\u65e5\u5fd7\u7cfb\u7edf\u6765\u8bb0\u5f55\u8282\u70b9\u8f93\u51fa\u4fe1\u606f\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u901a\u8fc7ROS\u65e5\u5fd7\u6765\u8c03\u8bd5\u548c\u6392\u67e5\u8282\u70b9\u95ee\u9898\u3002ROS\u65e5\u5fd7\u53ef\u4ee5\u5728\u547d\u4ee4\u884c\u7ec8\u7aef\u3001ROS\u56fe\u5f62\u754c\u9762\u5de5\u5177\uff08\u5982rqt_console\u548crqt_logger_level\uff09\u548c\u4ee3\u7801\u4e2d\u4f7f\u7528\u3002\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u8bbe\u7f6eROS\u65e5\u5fd7\u7ea7\u522b\u548c\u8fc7\u6ee4\u5668\u6765\u63a7\u5236\u8282\u70b9\u8f93\u51fa\u4fe1\u606f\u7684\u663e\u793a\u548c\u8bb0\u5f55\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>GDB\u8c03\u8bd5\u5668<\/li>\n<\/ol>\n\n\n\n<p>GDB\u662fLinux\u4e0b\u5e38\u7528\u7684\u8c03\u8bd5\u5668\uff0c\u53ef\u4ee5\u7528\u4e8e\u8c03\u8bd5\u548c\u6392\u67e5\u8282\u70b9\u5d29\u6e83\u548c\u5185\u5b58\u9519\u8bef\u7b49\u95ee\u9898\u3002\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5728\u542f\u52a8\u8282\u70b9\u65f6\u6dfb\u52a0-g\u53c2\u6570\u6765\u542f\u7528GDB\u8c03\u8bd5\u5668\uff0c\u8fdb\u5165GDB\u8c03\u8bd5\u754c\u9762\u540e\u53ef\u4ee5\u4f7f\u7528\u4e00\u7cfb\u5217\u547d\u4ee4\u6765\u5206\u6790\u548c\u8c03\u8bd5\u8282\u70b9\u95ee\u9898\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>Valgrind\u5de5\u5177<\/li>\n<\/ol>\n\n\n\n<p>Valgrind\u662fLinux\u4e0b\u5e38\u7528\u7684\u5185\u5b58\u8c03\u8bd5\u5de5\u5177\uff0c\u53ef\u4ee5\u7528\u4e8e\u68c0\u6d4b\u548c\u6392\u67e5\u8282\u70b9\u7684\u5185\u5b58\u9519\u8bef\u548c\u6cc4\u6f0f\u7b49\u95ee\u9898\u3002\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u5728\u542f\u52a8\u8282\u70b9\u65f6\u6dfb\u52a0&#8211;valgrind\u53c2\u6570\u6765\u542f\u7528Valgrind\u5de5\u5177\uff0cValgrind\u4f1a\u8bb0\u5f55\u8282\u70b9\u5185\u5b58\u4f7f\u7528\u60c5\u51b5\u5e76\u8f93\u51fa\u9519\u8bef\u548c\u8b66\u544a\u4fe1\u606f\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>ROS bag\u6587\u4ef6<\/li>\n<\/ol>\n\n\n\n<p>ROS bag\u6587\u4ef6\u662f\u4e00\u79cd\u5e38\u7528\u7684\u6570\u636e\u8bb0\u5f55\u548c\u56de\u653e\u683c\u5f0f\uff0c\u53ef\u4ee5\u7528\u4e8e\u8c03\u8bd5\u548c\u6392\u67e5\u8282\u70b9\u6570\u636e\u95ee\u9898\u3002\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u4f7f\u7528rosbag record\u547d\u4ee4\u6765\u8bb0\u5f55\u8282\u70b9\u8f93\u51fa\u6570\u636e\uff0c\u4f7f\u7528rosbag play\u547d\u4ee4\u6765\u56de\u653e\u6570\u636e\u5e76\u5206\u6790\u8282\u70b9\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u638c\u63e1\u4e0a\u8ff0\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7\uff0c\u4ee5\u53ca\u5e38\u7528\u7684ROS\u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u5de5\u5177\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u9ad8\u6548\u5730\u89e3\u51b3\u9519\u8bef\u548c\u8c03\u8bd5\u95ee\u9898\uff0c\u63d0\u9ad8\u673a\u5668\u4eba\u5e94\u7528\u7684\u8d28\u91cf\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u56de\u987e\u8bfe\u7a0b\u5185\u5bb9ChatGPT<\/p>\n\n\n\n<p>\u5728\u672c\u6b21\u8bfe\u7a0b\u4e2d\uff0c\u6211\u4eec\u4e3b\u8981\u5b66\u4e60\u4e86ROS\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u7684\u57fa\u7840\u77e5\u8bc6\u548c\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\uff0c\u6db5\u76d6\u4e86\u4ee5\u4e0b\u4e3b\u8981\u5185\u5bb9\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>ROS\u7b80\u4ecb<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>ROS\u5b9a\u4e49\u548c\u7279\u70b9<\/li>\n\n\n\n<li>ROS\u5386\u53f2\u548c\u53d1\u5c55<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>ROS\u57fa\u7840\u6982\u5ff5<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8282\u70b9\uff08Nodes\uff09<\/li>\n\n\n\n<li>\u4e3b\u9898\uff08Topics\uff09<\/li>\n\n\n\n<li>\u670d\u52a1\uff08Services\uff09<\/li>\n\n\n\n<li>\u6d88\u606f\uff08Messages\uff09<\/li>\n\n\n\n<li>\u53c2\u6570\u670d\u52a1\u5668\uff08Parameter Server\uff09<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>ROS\u547d\u4ee4\u884c\u5de5\u5177<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>roscore<\/li>\n\n\n\n<li>rosrun<\/li>\n\n\n\n<li>roslaunch<\/li>\n\n\n\n<li>rosnode<\/li>\n\n\n\n<li>rostopic<\/li>\n\n\n\n<li>rosservice<\/li>\n\n\n\n<li>rosparam<\/li>\n\n\n\n<li>rosbag<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"4\">\n<li>ROS\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5de5\u4f5c\u7a7a\u95f4\u548c\u5305\u7684\u521b\u5efa\u548c\u7ba1\u7406<\/li>\n\n\n\n<li>Python\u548cC++\u8282\u70b9\u7684\u7f16\u5199\u548c\u8fd0\u884c<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"5\">\n<li>ROS\u6d88\u606f\u548c\u901a\u4fe1<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u7684\u521b\u5efa<\/li>\n\n\n\n<li>\u53d1\u5e03\u548c\u8ba2\u9605\u4e3b\u9898<\/li>\n\n\n\n<li>\u8bf7\u6c42\u548c\u54cd\u5e94\u670d\u52a1<\/li>\n\n\n\n<li>\u52a8\u6001\u53c2\u6570\u8c03\u6574<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"6\">\n<li>ROS\u5b9e\u9645\u5e94\u7528\u6848\u4f8b<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u673a\u5668\u4eba\u5efa\u6a21\u4e0e\u4eff\u771f<\/li>\n\n\n\n<li>\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u4e0e\u878d\u5408<\/li>\n\n\n\n<li>\u8def\u5f84\u89c4\u5212\u4e0e\u5bfc\u822a<\/li>\n\n\n\n<li>\u56fe\u50cf\u5904\u7406\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"7\">\n<li>ROS\u4e0e\u5176\u4ed6\u5de5\u5177\u548c\u5e93\u7684\u96c6\u6210<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Gazebo\u6a21\u62df\u5668<\/li>\n\n\n\n<li>RViz\u53ef\u89c6\u5316\u5de5\u5177<\/li>\n\n\n\n<li>MoveIt!\u8fd0\u52a8\u89c4\u5212\u5e93<\/li>\n\n\n\n<li>OpenCV\u56fe\u50cf\u5904\u7406\u5e93<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\" start=\"8\">\n<li>ROS\u6700\u4f73\u5b9e\u8df5\u548c\u8c03\u8bd5\u6280\u5de7<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4ee3\u7801\u7ed3\u6784\u548c\u6a21\u5757\u5316<\/li>\n\n\n\n<li>\u8282\u70b9\u95f4\u901a\u4fe1\u548c\u540c\u6b65<\/li>\n\n\n\n<li>\u6027\u80fd\u8c03\u4f18\u548c\u5185\u5b58\u7ba1\u7406<\/li>\n\n\n\n<li>\u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u5de5\u5177<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u672c\u6b21\u8bfe\u7a0b\u7684\u5b66\u4e60\uff0c\u6211\u4eec\u638c\u63e1\u4e86ROS\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u7684\u57fa\u672c\u77e5\u8bc6\u548c\u5b9e\u9645\u5e94\u7528\u6280\u5de7\uff0c\u80fd\u591f\u5f00\u53d1\u548c\u90e8\u7f72\u5404\u79cd\u7c7b\u578b\u7684\u673a\u5668\u4eba\u5e94\u7528\uff0c\u540c\u65f6\u638c\u63e1\u4e86ROS\u9519\u8bef\u6392\u67e5\u548c\u8c03\u8bd5\u7684\u65b9\u6cd5\u548c\u5de5\u5177\uff0c\u80fd\u591f\u66f4\u5feb\u901f\u3001\u9ad8\u6548\u5730\u89e3\u51b3\u95ee\u9898\u548c\u63d0\u9ad8\u673a\u5668\u4eba\u5e94\u7528\u7684\u8d28\u91cf\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u8be6\u7ec6\u89e3\u91caROS\u7684\u672a\u6765\u53d1\u5c55\u8d8b\u52bfChatGPT<\/p>\n\n\n\n<p>ROS\u4f5c\u4e3a\u76ee\u524d\u6700\u6d41\u884c\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5df2\u7ecf\u6210\u4e3a\u673a\u5668\u4eba\u5f00\u53d1\u9886\u57df\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\u3002\u672a\u6765ROS\u7684\u53d1\u5c55\u8d8b\u52bf\u53ef\u4ee5\u4ece\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\u8fdb\u884c\u9884\u6d4b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u66f4\u52a0\u667a\u80fd\u5316 \u968f\u7740\u4eba\u5de5\u667a\u80fd\u6280\u672f\u7684\u4e0d\u65ad\u53d1\u5c55\uff0c\u672a\u6765ROS\u5c06\u66f4\u52a0\u667a\u80fd\u5316\u3002ROS\u5c06\u4e0e\u6df1\u5ea6\u5b66\u4e60\u3001\u673a\u5668\u5b66\u4e60\u7b49\u9886\u57df\u7684\u6280\u672f\u76f8\u7ed3\u5408\uff0c\u4ee5\u66f4\u52a0\u667a\u80fd\u3001\u7075\u6d3b\u5730\u63a7\u5236\u673a\u5668\u4eba\u3002<\/li>\n\n\n\n<li>\u66f4\u52a0\u6a21\u5757\u5316 \u672a\u6765ROS\u5c06\u66f4\u52a0\u6a21\u5757\u5316\uff0c\u5c06\u673a\u5668\u4eba\u7cfb\u7edf\u5212\u5206\u4e3a\u66f4\u5c0f\u7684\u6a21\u5757\uff0c\u4f7f\u5f97\u6bcf\u4e2a\u6a21\u5757\u90fd\u80fd\u591f\u72ec\u7acb\u5f00\u53d1\u3001\u6d4b\u8bd5\u548c\u90e8\u7f72\u3002\u8fd9\u5c06\u63d0\u9ad8ROS\u7684\u53ef\u91cd\u7528\u6027\u548c\u53ef\u6269\u5c55\u6027\uff0c\u4f7f\u5f97\u5f00\u53d1\u4eba\u5458\u53ef\u4ee5\u66f4\u52a0\u7075\u6d3b\u5730\u6784\u5efa\u673a\u5668\u4eba\u5e94\u7528\u3002<\/li>\n\n\n\n<li>\u66f4\u52a0\u5206\u5e03\u5f0f \u672a\u6765ROS\u5c06\u66f4\u52a0\u5206\u5e03\u5f0f\uff0c\u5c06\u673a\u5668\u4eba\u7cfb\u7edf\u5212\u5206\u4e3a\u591a\u4e2a\u8282\u70b9\uff0c\u4f7f\u5f97\u6bcf\u4e2a\u8282\u70b9\u90fd\u80fd\u591f\u72ec\u7acb\u8fd0\u884c\u548c\u901a\u4fe1\u3002\u8fd9\u5c06\u63d0\u9ad8ROS\u7684\u9c81\u68d2\u6027\u548c\u53ef\u9760\u6027\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u7cfb\u7edf\u80fd\u591f\u66f4\u597d\u5730\u9002\u5e94\u4e0d\u540c\u7684\u5de5\u4f5c\u73af\u5883\u3002<\/li>\n\n\n\n<li>\u66f4\u52a0\u5f00\u653e\u548c\u5171\u4eab \u672a\u6765ROS\u5c06\u66f4\u52a0\u5f00\u653e\u548c\u5171\u4eab\uff0c\u5c06\u5f00\u53d1\u4eba\u5458\u3001\u7814\u7a76\u4eba\u5458\u548c\u673a\u5668\u4eba\u7231\u597d\u8005\u6c47\u805a\u5230\u4e00\u8d77\uff0c\u5171\u540c\u6784\u5efa\u673a\u5668\u4eba\u751f\u6001\u7cfb\u7edf\u3002ROS\u5c06\u6210\u4e3a\u673a\u5668\u4eba\u5f00\u53d1\u548c\u7814\u7a76\u7684\u6807\u51c6\u5e73\u53f0\uff0c\u4fc3\u8fdb\u673a\u5668\u4eba\u9886\u57df\u7684\u6280\u672f\u521b\u65b0\u548c\u5e94\u7528\u843d\u5730\u3002<\/li>\n\n\n\n<li>\u66f4\u52a0\u6ce8\u91cd\u5b89\u5168\u6027 \u672a\u6765ROS\u5c06\u66f4\u52a0\u6ce8\u91cd\u673a\u5668\u4eba\u7684\u5b89\u5168\u6027\u3002\u673a\u5668\u4eba\u5728\u4e0e\u4eba\u7c7b\u4ea4\u4e92\u548c\u5de5\u4f5c\u65f6\u5fc5\u987b\u4fdd\u8bc1\u5b89\u5168\uff0c\u56e0\u6b64ROS\u5c06\u91c7\u7528\u66f4\u52a0\u4e25\u683c\u7684\u5b89\u5168\u6807\u51c6\u548c\u534f\u8bae\uff0c\u4ee5\u786e\u4fdd\u673a\u5668\u4eba\u7684\u5b89\u5168\u6027\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0c\u672a\u6765ROS\u5c06\u66f4\u52a0\u667a\u80fd\u5316\u3001\u6a21\u5757\u5316\u3001\u5206\u5e03\u5f0f\u3001\u5f00\u653e\u548c\u5171\u4eab\u3001\u6ce8\u91cd\u5b89\u5168\u6027\u3002ROS\u5c06\u7ee7\u7eed\u63a8\u52a8\u673a\u5668\u4eba\u6280\u672f\u7684\u53d1\u5c55\u548c\u5e94\u7528\uff0c\u4e3a\u672a\u6765\u7684\u673a\u5668\u4eba\u5e94\u7528\u6253\u4e0b\u575a\u5b9e\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/chat.openai.com\/_next\/image?url=https%3A%2F%2Flh3.googleusercontent.com%2Fa%2FAGNmyxbwVdnTP0E2eBqDrujRQjV-wFP12Thr4vFgysVv5A%3Ds96-c&amp;w=96&amp;q=75\" alt=\"User\"\/><\/figure>\n\n\n\n<p>\u8bf7\u63a8\u8350\u7684\u8fdb\u9636\u5b66\u4e60\u8d44\u6e90ChatGPT<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u662f\u4e00\u4e9b\u63a8\u8350\u7684ROS\u8fdb\u9636\u5b66\u4e60\u8d44\u6e90\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>ROS Wiki: ROS\u5b98\u65b9\u6587\u6863\uff0c\u5305\u542bROS\u7684\u5404\u79cd\u8d44\u6599\u548c\u6559\u7a0b\uff0c\u662f\u5b66\u4e60ROS\u7684\u6700\u4f73\u5165\u95e8\u8d44\u6e90\u3002<a href=\"https:\/\/wiki.ros.org\/\">https:\/\/wiki.ros.org\/<\/a><\/li>\n\n\n\n<li>ROS Tutorials: ROS\u5b98\u65b9\u63d0\u4f9b\u7684\u5404\u79cd\u6559\u7a0b\uff0c\u6db5\u76d6\u4e86ROS\u7684\u57fa\u672c\u6982\u5ff5\u548c\u5b9e\u9645\u5e94\u7528\u6848\u4f8b\u3002<a href=\"https:\/\/wiki.ros.org\/ROS\/Tutorials\">https:\/\/wiki.ros.org\/ROS\/Tutorials<\/a><\/li>\n\n\n\n<li>ROS Courses on Coursera: \u63d0\u4f9b\u4e86\u591a\u4e2aROS\u8bfe\u7a0b\uff0c\u5305\u62ecROS\u57fa\u7840\u3001\u673a\u5668\u4eba\u5bfc\u822a\u3001\u673a\u5668\u4eba\u64cd\u4f5c\u7b49\u3002<a href=\"https:\/\/www.coursera.org\/courses?query=ros\">https:\/\/www.coursera.org\/courses?query=ros<\/a><\/li>\n\n\n\n<li>ROS Robotics Projects: \u8be5\u4e66\u4ecb\u7ecd\u4e86ROS\u7684\u5404\u79cd\u5e94\u7528\u548c\u5b9e\u9645\u9879\u76ee\uff0c\u9002\u5408\u5bf9ROS\u6709\u4e00\u5b9a\u4e86\u89e3\u7684\u8bfb\u8005\u8fdb\u4e00\u6b65\u5b66\u4e60\u548c\u5b9e\u8df5\u3002<a href=\"https:\/\/www.packtpub.com\/product\/ros-robotics-projects\/9781800569741\">https:\/\/www.packtpub.com\/product\/ros-robotics-projects\/9781800569741<\/a><\/li>\n\n\n\n<li>ROSCon: ROS\u5e74\u5ea6\u56fd\u9645\u4f1a\u8bae\uff0c\u63d0\u4f9b\u4e86ROS\u9886\u57df\u7684\u6700\u65b0\u8fdb\u5c55\u548c\u7814\u7a76\u6210\u679c\u3002<a href=\"https:\/\/roscon.ros.org\/\">https:\/\/roscon.ros.org\/<\/a><\/li>\n\n\n\n<li>ROS Answers: ROS\u5b98\u65b9\u63d0\u4f9b\u7684\u95ee\u7b54\u793e\u533a\uff0c\u53ef\u4ee5\u5728\u8fd9\u91cc\u627e\u5230ROS\u65b9\u9762\u7684\u4e13\u5bb6\u548c\u89e3\u51b3\u65b9\u6848\u3002<a href=\"https:\/\/answers.ros.org\/\">https:\/\/answers.ros.org\/<\/a><\/li>\n\n\n\n<li>GitHub: ROS\u5728GitHub\u4e0a\u6709\u5927\u91cf\u7684\u5f00\u6e90\u9879\u76ee\u548c\u4ee3\u7801\uff0c\u53ef\u4ee5\u4ece\u4e2d\u5b66\u4e60ROS\u7684\u5b9e\u9645\u5e94\u7528\u548c\u4ee3\u7801\u5b9e\u73b0\u3002<a href=\"https:\/\/github.com\/ros\">https:\/\/github.com\/ros<\/a><\/li>\n\n\n\n<li>ROS Industrial: \u8be5\u9879\u76ee\u63d0\u4f9b\u4e86ROS\u5728\u5de5\u4e1a\u673a\u5668\u4eba\u5e94\u7528\u4e2d\u7684\u5b9e\u8df5\u548c\u7ecf\u9a8c\u3002<a href=\"https:\/\/rosindustrial.org\/\">https:\/\/rosindustrial.org\/<\/a><\/li>\n<\/ol>\n\n\n\n<p>\u4ee5\u4e0a\u8d44\u6e90\u53ef\u4ee5\u5e2e\u52a9\u8fdb\u4e00\u6b65\u5b66\u4e60ROS\u7684\u5404\u79cd\u5e94\u7528\u548c\u5b9e\u8df5\uff0c\u5e76\u638c\u63e1ROS\u7684\u9ad8\u7ea7\u5f00\u53d1\u6280\u5de7\u548c\u5b9e\u8df5\u7ecf\u9a8c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6211\u662f\u8981\u505aIT\u6559\u7a0b\u7684\u89c6\u9891\uff0c\u4f60\u80fd\u5426\u6839\u636e\u7f51\u7ad9\u7684 &hellip; <\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_mi_skip_tracking":false,"footnotes":""},"categories":[23],"tags":[],"class_list":["post-2364","post","type-post","status-publish","format-standard","hentry","category-material"],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=\/wp\/v2\/posts\/2364","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2364"}],"version-history":[{"count":1,"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=\/wp\/v2\/posts\/2364\/revisions"}],"predecessor-version":[{"id":2365,"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=\/wp\/v2\/posts\/2364\/revisions\/2365"}],"wp:attachment":[{"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2364"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2364"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/edu.ujhb.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2364"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}