{"id":164,"date":"2024-09-19T00:56:17","date_gmt":"2024-09-18T16:56:17","guid":{"rendered":"https:\/\/www.armfun.cn\/?p=164"},"modified":"2024-09-19T00:56:17","modified_gmt":"2024-09-18T16:56:17","slug":"ros%ef%bc%88robot-operating-system%ef%bc%89%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9f%e4%bb%8b%e7%bb%8d","status":"publish","type":"post","link":"https:\/\/www.armfun.cn\/?p=164","title":{"rendered":"ROS\uff08Robot Operating System\uff09\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u4ecb\u7ecd"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">ROS\uff08Robot Operating System\uff09\uff0c\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u673a\u5668\u4eba\u8f6f\u4ef6\u6846\u67b6\uff0c\u65e8\u5728\u4e3a\u673a\u5668\u4eba\u5f00\u53d1\u63d0\u4f9b\u4e00\u5957\u6807\u51c6\u5316\u7684\u5de5\u5177\u3001\u5e93\u548c\u60ef\u4f8b\u3002\u5c3d\u7ba1\u540d\u5b57\u4e2d\u5305\u542b\u201c\u64cd\u4f5c\u7cfb\u7edf\u201d\uff0cROS \u5b9e\u9645\u4e0a\u5e76\u4e0d\u662f\u4e00\u4e2a\u4f20\u7edf\u610f\u4e49\u4e0a\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u800c\u662f\u4e00\u4e2a\u4e2d\u95f4\u4ef6\uff0c\u8fd0\u884c\u5728\u73b0\u6709\u7684\u64cd\u4f5c\u7cfb\u7edf\uff08\u5982Linux\uff09\u4e4b\u4e0a\uff0c\u63d0\u4f9b\u4e86\u673a\u5668\u4eba\u5e94\u7528\u5f00\u53d1\u6240\u9700\u7684\u5404\u79cd\u529f\u80fd\u6a21\u5757\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. ROS \u7684\u5386\u53f2\u4e0e\u53d1\u5c55<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8d77\u6e90<\/strong>\uff1aROS \u6700\u521d\u7531\u7f8e\u56fd\u65af\u5766\u798f\u5927\u5b66\u7684\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\uff08Stanford AI Lab\uff09\u5f00\u53d1\uff0c\u540e\u6765\u7531Willow Garage\u516c\u53f8\u8fdb\u4e00\u6b65\u63a8\u52a8\u548c\u53d1\u5c55\u30022007\u5e74\uff0cROS \u7684\u7b2c\u4e00\u4e2a\u7248\u672c\u53d1\u5e03\u3002<\/li>\n\n\n\n<li><strong>\u53d1\u5c55<\/strong>\uff1a\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\uff0cROS \u793e\u533a\u4e0d\u65ad\u58ee\u5927\uff0c\u8d21\u732e\u4e86\u5927\u91cf\u7684\u5305\uff08Packages\uff09\u3001\u5de5\u5177\u548c\u6587\u6863\u3002ROS \u7684\u6210\u529f\u5438\u5f15\u4e86\u591a\u4e2a\u673a\u5668\u4eba\u5236\u9020\u5546\u548c\u7814\u7a76\u673a\u6784\u7684\u53c2\u4e0e\u3002<\/li>\n\n\n\n<li><strong>\u7248\u672c\u6f14\u8fdb<\/strong>\uff1aROS 1\u662f\u6700\u521d\u7684\u7248\u672c\uff0c\u968f\u7740\u9700\u6c42\u7684\u589e\u957f\uff0cROS 2\u5e94\u8fd0\u800c\u751f\u3002ROS 2\u5728\u6027\u80fd\u3001\u5b89\u5168\u6027\u548c\u5b9e\u65f6\u6027\u7b49\u65b9\u9762\u505a\u4e86\u663e\u8457\u6539\u8fdb\uff0c\u652f\u6301\u591a\u79cd\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5e76\u66f4\u9002\u5408\u5de5\u4e1a\u5e94\u7528\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2. ROS \u7684\u6838\u5fc3\u6982\u5ff5\u4e0e\u67b6\u6784<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">2.1 \u8282\u70b9\uff08Nodes\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b9a\u4e49<\/strong>\uff1a\u8282\u70b9\u662fROS\u7cfb\u7edf\u4e2d\u7684\u57fa\u672c\u6267\u884c\u5355\u5143\uff0c\u901a\u5e38\u5bf9\u5e94\u4e8e\u4e00\u4e2a\u72ec\u7acb\u7684\u8fdb\u7a0b\u3002\u6bcf\u4e2a\u8282\u70b9\u8d1f\u8d23\u6267\u884c\u7279\u5b9a\u7684\u529f\u80fd\uff0c\u5982\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6\u3001\u8fd0\u52a8\u63a7\u5236\u3001\u8def\u5f84\u89c4\u5212\u7b49\u3002<\/li>\n\n\n\n<li><strong>\u901a\u4fe1<\/strong>\uff1a\u8282\u70b9\u4e4b\u95f4\u901a\u8fc7ROS\u7684\u901a\u4fe1\u673a\u5236\uff08\u5982\u8bdd\u9898\u3001\u670d\u52a1\u548c\u52a8\u4f5c\uff09\u8fdb\u884c\u6570\u636e\u4ea4\u6362\u548c\u534f\u4f5c\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">2.2 \u8bdd\u9898\uff08Topics\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u53d1\u5e03-\u8ba2\u9605\u6a21\u5f0f<\/strong>\uff1a\u8282\u70b9\u53ef\u4ee5\u53d1\u5e03\u6d88\u606f\u5230\u67d0\u4e2a\u8bdd\u9898\uff0c\u5176\u4ed6\u8282\u70b9\u53ef\u4ee5\u8ba2\u9605\u8be5\u8bdd\u9898\u4ee5\u63a5\u6536\u6d88\u606f\u3002\u9002\u7528\u4e8e\u6570\u636e\u6d41\u7684\u8fde\u7eed\u4f20\u8f93\uff0c\u5982\u4f20\u611f\u5668\u6570\u636e\u3002<\/li>\n\n\n\n<li><strong>\u6d88\u606f\u7c7b\u578b<\/strong>\uff1aROS\u5b9a\u4e49\u4e86\u591a\u79cd\u6807\u51c6\u6d88\u606f\u7c7b\u578b\uff0c\u4e5f\u652f\u6301\u7528\u6237\u81ea\u5b9a\u4e49\u6d88\u606f\u683c\u5f0f\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">2.3 \u670d\u52a1\uff08Services\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bf7\u6c42-\u54cd\u5e94\u6a21\u5f0f<\/strong>\uff1a\u670d\u52a1\u5141\u8bb8\u8282\u70b9\u4e4b\u95f4\u8fdb\u884c\u540c\u6b65\u7684\u901a\u4fe1\uff0c\u4e00\u4e2a\u8282\u70b9\u53ef\u4ee5\u8bf7\u6c42\u53e6\u4e00\u4e2a\u8282\u70b9\u63d0\u4f9b\u7279\u5b9a\u7684\u670d\u52a1\uff0c\u5e76\u7b49\u5f85\u54cd\u5e94\u3002\u9002\u7528\u4e8e\u9700\u8981\u5373\u65f6\u53cd\u9988\u7684\u64cd\u4f5c\uff0c\u5982\u83b7\u53d6\u53c2\u6570\u3001\u6267\u884c\u547d\u4ee4\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">2.4 \u52a8\u4f5c\uff08Actions\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5f02\u6b65\u901a\u4fe1<\/strong>\uff1a\u52a8\u4f5c\u5141\u8bb8\u8282\u70b9\u6267\u884c\u9700\u8981\u8f83\u957f\u65f6\u95f4\u7684\u4efb\u52a1\uff0c\u5e76\u63d0\u4f9b\u53cd\u9988\u548c\u7ed3\u679c\u3002\u9002\u7528\u4e8e\u9700\u8981\u76d1\u63a7\u8fdb\u5ea6\u7684\u64cd\u4f5c\uff0c\u5982\u79fb\u52a8\u673a\u5668\u4eba\u5230\u6307\u5b9a\u4f4d\u7f6e\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">2.5 \u5305\uff08Packages\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6a21\u5757\u5316\u7ec4\u7ec7<\/strong>\uff1a\u5305\u662fROS\u4ee3\u7801\u548c\u8d44\u6e90\u7684\u57fa\u672c\u7ec4\u7ec7\u5355\u4f4d\uff0c\u4e00\u4e2a\u5305\u901a\u5e38\u5305\u542b\u8282\u70b9\u3001\u5e93\u3001\u914d\u7f6e\u6587\u4ef6\u3001\u8d44\u6e90\u6587\u4ef6\u7b49\u3002\u901a\u8fc7\u5305\u7ba1\u7406\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u8f7b\u677e\u5171\u4eab\u548c\u91cd\u7528\u4ee3\u7801\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">2.6 \u5de5\u4f5c\u7a7a\u95f4\uff08Workspaces\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5f00\u53d1\u73af\u5883<\/strong>\uff1a\u5de5\u4f5c\u7a7a\u95f4\u662f\u5f00\u53d1ROS\u5305\u7684\u76ee\u5f55\u7ed3\u6784\uff0c\u5305\u542b\u6e90\u4ee3\u7801\u3001\u6784\u5efa\u6587\u4ef6\u548c\u5b89\u88c5\u6587\u4ef6\u3002\u5e38\u89c1\u7684\u5de5\u4f5c\u7a7a\u95f4\u5de5\u5177\u5305\u62eccatkin\uff08ROS 1\uff09\u548ccolcon\uff08ROS 2\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3. ROS \u7684\u5173\u952e\u529f\u80fd\u4e0e\u5de5\u5177<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">3.1 ROS Master<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u534f\u8c03\u901a\u4fe1<\/strong>\uff1aROS Master\u8d1f\u8d23\u534f\u8c03\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\uff0c\u7ba1\u7406\u8bdd\u9898\u3001\u670d\u52a1\u548c\u53c2\u6570\u670d\u52a1\u5668\u3002\u6240\u6709\u8282\u70b9\u5728\u542f\u52a8\u65f6\u9700\u8981\u6ce8\u518c\u5230ROS Master\uff0c\u4ee5\u4fbf\u53d1\u73b0\u548c\u8fde\u63a5\u5176\u4ed6\u8282\u70b9\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3.2 \u53c2\u6570\u670d\u52a1\u5668\uff08Parameter Server\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u914d\u7f6e\u7ba1\u7406<\/strong>\uff1a\u53c2\u6570\u670d\u52a1\u5668\u7528\u4e8e\u5b58\u50a8\u548c\u7ba1\u7406\u5168\u5c40\u53c2\u6570\uff0c\u8282\u70b9\u53ef\u4ee5\u8bfb\u53d6\u548c\u4fee\u6539\u8fd9\u4e9b\u53c2\u6570\uff0c\u7528\u4e8e\u914d\u7f6e\u7cfb\u7edf\u884c\u4e3a\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3.3 RViz<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u53ef\u89c6\u5316\u5de5\u5177<\/strong>\uff1aRViz\u662fROS\u76843D\u53ef\u89c6\u5316\u5de5\u5177\uff0c\u7528\u4e8e\u5c55\u793a\u4f20\u611f\u5668\u6570\u636e\u3001\u673a\u5668\u4eba\u6a21\u578b\u3001\u8def\u5f84\u89c4\u5212\u7ed3\u679c\u7b49\u3002\u5b83\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u63d2\u4ef6\u548c\u53ef\u5b9a\u5236\u7684\u89c6\u56fe\uff0c\u5e2e\u52a9\u5f00\u53d1\u8005\u8c03\u8bd5\u548c\u5206\u6790\u673a\u5668\u4eba\u884c\u4e3a\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3.4 Gazebo<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4eff\u771f\u73af\u5883<\/strong>\uff1aGazebo\u662f\u4e00\u4e2a\u9ad8\u6027\u80fd\u7684\u673a\u5668\u4eba\u4eff\u771f\u5e73\u53f0\uff0c\u652f\u6301\u7269\u7406\u5f15\u64ce\u3001\u4f20\u611f\u5668\u6a21\u62df\u548c\u591a\u673a\u5668\u4eba\u534f\u4f5c\u3002\u4e0eROS\u96c6\u6210\u540e\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u5728\u865a\u62df\u73af\u5883\u4e2d\u6d4b\u8bd5\u548c\u9a8c\u8bc1\u673a\u5668\u4eba\u7b97\u6cd5\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3.5 MoveIt!<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8fd0\u52a8\u89c4\u5212\u6846\u67b6<\/strong>\uff1aMoveIt!\u662fROS\u7684\u8fd0\u52a8\u89c4\u5212\u5e93\uff0c\u652f\u6301\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u89c4\u5212\u3001\u8fd0\u52a8\u6267\u884c\u548c\u8fd0\u52a8\u63a7\u5236\u3002\u5b83\u96c6\u6210\u4e86\u78b0\u649e\u68c0\u6d4b\u3001\u8def\u5f84\u89c4\u5212\u548c\u9006\u5411\u8fd0\u52a8\u5b66\u7b49\u529f\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3.6 ROS Build System<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6784\u5efa\u5de5\u5177<\/strong>\uff1aROS\u4f7f\u7528\u7279\u5b9a\u7684\u6784\u5efa\u7cfb\u7edf\uff08\u5982catkin\u548ccolcon\uff09\u6765\u7ba1\u7406\u5305\u7684\u7f16\u8bd1\u3001\u4f9d\u8d56\u548c\u5b89\u88c5\u3002\u8fd9\u4e9b\u5de5\u5177\u7b80\u5316\u4e86\u591a\u5305\u9879\u76ee\u7684\u6784\u5efa\u6d41\u7a0b\uff0c\u63d0\u9ad8\u4e86\u5f00\u53d1\u6548\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">4. ROS \u7684\u4f18\u52bf<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5f00\u6e90\u4e0e\u793e\u533a\u652f\u6301<\/strong>\uff1aROS\u662f\u5f00\u6e90\u9879\u76ee\uff0c\u62e5\u6709\u5e9e\u5927\u7684\u5f00\u53d1\u8005\u793e\u533a\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u6587\u6863\u3001\u6559\u7a0b\u548c\u5f00\u6e90\u5305\uff0c\u5e2e\u52a9\u5f00\u53d1\u8005\u5feb\u901f\u4e0a\u624b\u548c\u89e3\u51b3\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>\u6a21\u5757\u5316\u4e0e\u53ef\u6269\u5c55\u6027<\/strong>\uff1aROS\u91c7\u7528\u6a21\u5757\u5316\u8bbe\u8ba1\uff0c\u5141\u8bb8\u5f00\u53d1\u8005\u6839\u636e\u9700\u6c42\u7ec4\u5408\u548c\u6269\u5c55\u529f\u80fd\uff0c\u652f\u6301\u4ece\u7b80\u5355\u5230\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u5f00\u53d1\u3002<\/li>\n\n\n\n<li><strong>\u8de8\u5e73\u53f0\u652f\u6301<\/strong>\uff1a\u867d\u7136ROS\u6700\u521d\u4e3b\u8981\u652f\u6301Linux\uff0c\u4f46ROS 2\u6269\u5c55\u4e86\u5bf9Windows\u3001macOS\u548c\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u7684\u652f\u6301\uff0c\u589e\u5f3a\u4e86\u5e73\u53f0\u517c\u5bb9\u6027\u3002<\/li>\n\n\n\n<li><strong>\u6807\u51c6\u5316\u901a\u4fe1\u534f\u8bae<\/strong>\uff1aROS\u63d0\u4f9b\u4e86\u4e00\u5957\u6807\u51c6\u5316\u7684\u901a\u4fe1\u534f\u8bae\u548c\u63a5\u53e3\uff0c\u7b80\u5316\u4e86\u4e0d\u540c\u7ec4\u4ef6\u4e4b\u95f4\u7684\u96c6\u6210\u548c\u534f\u4f5c\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">5. ROS \u7684\u5e94\u7528\u573a\u666f<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u79fb\u52a8\u673a\u5668\u4eba<\/strong>\uff1a\u81ea\u4e3b\u5bfc\u822a\u3001\u8def\u5f84\u89c4\u5212\u3001\u73af\u5883\u611f\u77e5\u548c\u907f\u969c\u3002<\/li>\n\n\n\n<li><strong>\u5de5\u4e1a\u81ea\u52a8\u5316<\/strong>\uff1a\u673a\u68b0\u81c2\u63a7\u5236\u3001\u751f\u4ea7\u7ebf\u81ea\u52a8\u5316\u548c\u8d28\u91cf\u68c0\u6d4b\u3002<\/li>\n\n\n\n<li><strong>\u670d\u52a1\u673a\u5668\u4eba<\/strong>\uff1a\u5bb6\u5ead\u670d\u52a1\u3001\u533b\u7597\u8f85\u52a9\u548c\u6559\u80b2\u673a\u5668\u4eba\u3002<\/li>\n\n\n\n<li><strong>\u65e0\u4eba\u9a7e\u9a76<\/strong>\uff1a\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u611f\u77e5\u3001\u51b3\u7b56\u548c\u63a7\u5236\u7cfb\u7edf\u3002<\/li>\n\n\n\n<li><strong>\u7814\u7a76\u4e0e\u6559\u80b2<\/strong>\uff1a\u4f5c\u4e3a\u673a\u5668\u4eba\u5b66\u7814\u7a76\u548c\u6559\u5b66\u7684\u5e73\u53f0\uff0c\u4fc3\u8fdb\u673a\u5668\u4eba\u6280\u672f\u7684\u53d1\u5c55\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">6. ROS 2 \u7684\u6539\u8fdb\u4e0e\u7279\u6027<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">ROS 2\u662f\u5728ROS 1\u7684\u57fa\u7840\u4e0a\u8fdb\u884c\u91cd\u5927\u6539\u8fdb\u7684\u7248\u672c\uff0c\u89e3\u51b3\u4e86ROS 1\u5728\u5b9e\u65f6\u6027\u3001\u5b89\u5168\u6027\u548c\u8de8\u5e73\u53f0\u652f\u6301\u7b49\u65b9\u9762\u7684\u4e0d\u8db3\u3002\u4e3b\u8981\u7279\u6027\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u57fa\u4e8eDDS\u7684\u901a\u4fe1<\/strong>\uff1a\u91c7\u7528\u6570\u636e\u5206\u53d1\u670d\u52a1\uff08DDS\uff09\u4f5c\u4e3a\u5e95\u5c42\u901a\u4fe1\u534f\u8bae\uff0c\u63d0\u9ad8\u4e86\u901a\u4fe1\u7684\u5b9e\u65f6\u6027\u548c\u53ef\u9760\u6027\u3002<\/li>\n\n\n\n<li><strong>\u591a\u7ebf\u7a0b\u4e0e\u5b9e\u65f6\u652f\u6301<\/strong>\uff1a\u589e\u5f3a\u4e86\u591a\u7ebf\u7a0b\u5904\u7406\u80fd\u529b\uff0c\u652f\u6301\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\uff0c\u9002\u7528\u4e8e\u5bf9\u5ef6\u8fdf\u654f\u611f\u7684\u5e94\u7528\u3002<\/li>\n\n\n\n<li><strong>\u5b89\u5168\u6027\u589e\u5f3a<\/strong>\uff1a\u5f15\u5165\u4e86\u5b89\u5168\u673a\u5236\uff0c\u5982\u8ba4\u8bc1\u3001\u52a0\u5bc6\u548c\u8bbf\u95ee\u63a7\u5236\uff0c\u786e\u4fdd\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u3002<\/li>\n\n\n\n<li><strong>\u8de8\u5e73\u53f0\u517c\u5bb9<\/strong>\uff1a\u652f\u6301Windows\u3001Linux\u548cmacOS\uff0c\u6269\u5c55\u4e86ROS\u7684\u5e94\u7528\u8303\u56f4\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">7. \u5b66\u4e60\u4e0e\u8d44\u6e90<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b98\u65b9\u6587\u6863<\/strong>\uff1aROS\u5b98\u65b9\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684\u6587\u6863\u548c\u6559\u7a0b\uff0c\u6db5\u76d6\u4ece\u5165\u95e8\u5230\u9ad8\u7ea7\u7684\u5404\u79cd\u4e3b\u9898\u3002<\/li>\n\n\n\n<li><strong>\u793e\u533a\u8bba\u575b<\/strong>\uff1aROS\u793e\u533a\u6d3b\u8dc3\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u5728\u8bba\u575b\u3001\u95ee\u7b54\u7f51\u7ad9\uff08\u5982ROS Answers\uff09\u548c\u793e\u4ea4\u5a92\u4f53\u4e0a\u5bfb\u6c42\u5e2e\u52a9\u548c\u4ea4\u6d41\u7ecf\u9a8c\u3002<\/li>\n\n\n\n<li><strong>\u5728\u7ebf\u8bfe\u7a0b\u4e0e\u4e66\u7c4d<\/strong>\uff1a\u6709\u591a\u79cd\u5728\u7ebf\u8bfe\u7a0b\u548c\u4e66\u7c4d\u4e13\u95e8\u4ecb\u7ecdROS\u7684\u4f7f\u7528\u548c\u5f00\u53d1\uff0c\u9002\u5408\u4e0d\u540c\u5c42\u6b21\u7684\u5b66\u4e60\u8005\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u7ed3\u8bed<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">ROS\u4f5c\u4e3a\u4e00\u4e2a\u5f3a\u5927\u4e14\u7075\u6d3b\u7684\u673a\u5668\u4eba\u8f6f\u4ef6\u6846\u67b6\uff0c\u6781\u5927\u5730\u63a8\u52a8\u4e86\u673a\u5668\u4eba\u6280\u672f\u7684\u53d1\u5c55\u548c\u5e94\u7528\u3002\u901a\u8fc7\u63d0\u4f9b\u6807\u51c6\u5316\u7684\u5de5\u5177\u548c\u63a5\u53e3\uff0cROS\u964d\u4f4e\u4e86\u673a\u5668\u4eba\u5f00\u53d1\u7684\u95e8\u69db\uff0c\u52a0\u901f\u4e86\u521b\u65b0\u548c\u5e94\u7528\u7684\u843d\u5730\u3002\u65e0\u8bba\u662f\u5b66\u672f\u7814\u7a76\u3001\u5de5\u4e1a\u5e94\u7528\u8fd8\u662f\u4e2a\u4eba\u9879\u76ee\uff0cROS\u90fd\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u8d44\u6e90\u548c\u652f\u6301\uff0c\u662f\u673a\u5668\u4eba\u5f00\u53d1\u8005\u4e0d\u53ef\u6216\u7f3a\u7684\u5de5\u5177\u4e4b\u4e00\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>ROS\uff08Robot Operating System\uff09\uff0c\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u662f&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8],"tags":[],"class_list":["post-164","post","type-post","status-publish","format-standard","hentry","category-8"],"views":2324,"_links":{"self":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/164","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=164"}],"version-history":[{"count":1,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/164\/revisions"}],"predecessor-version":[{"id":165,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/164\/revisions\/165"}],"wp:attachment":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=164"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=164"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=164"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}