{"id":58873,"date":"2023-10-21T12:36:03","date_gmt":"2023-10-21T04:36:03","guid":{"rendered":"https:\/\/www.techphant.cn\/?p=58873"},"modified":"2023-10-21T12:36:03","modified_gmt":"2023-10-21T04:36:03","slug":"syrckfssj","status":"publish","type":"post","link":"https:\/\/www.techphant.cn\/blog\/58873.html","title":{"rendered":"\u4f7f\u7528ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e"},"content":{"rendered":"

  ROS\uff08Robot Operating System\uff09\u662f\u4e00\u6b3e\u9762\u5411\u673a\u5668\u4eba\u5f00\u53d1\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5b83\u63d0\u4f9b\u4e86\u4e00\u5957\u7edf\u4e00\u7684\u7f16\u7a0b\u6846\u67b6\uff0c\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u8005\u8f7b\u677e\u6784\u5efa\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\uff0c\u5e76\u4f7f\u7528\u4e32\u53e3\u53d1\u9001\u6570\u636e\u3002\u672c\u6587\u5c06\u4ecb\u7ecdROS\u4e2d\u4f7f\u7528\u4e32\u53e3\u53d1\u9001\u6570\u636e\u7684\u5177\u4f53\u6b65\u9aa4\uff0c\u5e2e\u52a9\u8bfb\u8005\u66f4\u597d\u5730\u4e86\u89e3ROS\u7684\u4e32\u53e3\u53d1\u9001\u6570\u636e\u7684\u529f\u80fd\u3002<\/p>\n

\u4ec0\u4e48\u662fROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\uff1f<\/h2>\n

  ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\u662f\u6307ROS\u7cfb\u7edf\u4e2d\u4f7f\u7528\u4e32\u53e3\u53d1\u9001\u6570\u636e\u7684\u529f\u80fd\uff0c\u5b83\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u8005\u5728ROS\u7cfb\u7edf\u4e2d\u53d1\u9001\u548c\u63a5\u6536\u4e32\u53e3\u6570\u636e\uff0c\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u66f4\u591a\u529f\u80fd\u3002<\/p>\n

ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\u7684\u5177\u4f53\u6b65\u9aa4<\/h2>\n

  \u7b2c\u4e00\u6b65\uff1a\u68c0\u67e5\u4e32\u53e3\u8bbe\u5907<\/h3>\n

  \u9996\u5148\uff0c\u5f00\u53d1\u8005\u9700\u8981\u68c0\u67e5\u4e32\u53e3\u8bbe\u5907\u662f\u5426\u5df2\u7ecf\u8fde\u63a5\u5230ROS\u7cfb\u7edf\uff0c\u5e76\u786e\u4fdd\u4e32\u53e3\u8bbe\u5907\u5df2\u7ecf\u6b63\u786e\u914d\u7f6e\u3002<\/p>\n

  \u7b2c\u4e8c\u6b65\uff1a\u542f\u52a8ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e<\/h3>\n

  \u5176\u6b21\uff0c\u5f00\u53d1\u8005\u9700\u8981\u542f\u52a8ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\u529f\u80fd\uff0c\u5728ROS\u7cfb\u7edf\u4e2d\uff0c\u53ef\u4ee5\u4f7f\u7528ROS\u547d\u4ee4\u884c\u5de5\u5177\u5b8c\u6210\u6b64\u64cd\u4f5c\uff0c\u4f8b\u5982\uff1a<\/p>\n

  $ rosrun rosserial_python serial_node.py \/dev\/ttyACM0<\/p>\n

  \u7b2c\u4e09\u6b65\uff1a\u53d1\u9001\u6570\u636e<\/h3>\n

  \u6700\u540e\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u4f7f\u7528ROS\u7cfb\u7edf\u4e2d\u7684ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\u529f\u80fd\uff0c\u5411\u4e32\u53e3\u8bbe\u5907\u53d1\u9001\u6570\u636e\u3002ROS\u7cfb\u7edf\u4e2d\u7684ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\u529f\u80fd\u53ef\u4ee5\u4f7f\u7528ROS\u7684\u6d88\u606f\u7cfb\u7edf\u5b9e\u73b0\uff0c\u4f8b\u5982\uff1a<\/p>\n

  $ rosrun rosserial_python serial_node.py \/dev\/ttyACM0<\/p>\n

  \u901a\u8fc7\u4e0a\u8ff0\u547d\u4ee4\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u5411\u4e32\u53e3\u8bbe\u5907\u53d1\u9001\u6570\u636e\uff0c\u5b9e\u73b0\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u66f4\u591a\u529f\u80fd\u3002<\/p>\n

\u603b\u7ed3<\/h2>\n

  \u672c\u6587\u4ecb\u7ecd\u4e86ROS\u4e2d\u4f7f\u7528\u4e32\u53e3\u53d1\u9001\u6570\u636e\u7684\u5177\u4f53\u6b65\u9aa4\uff0c\u5e76\u8be6\u7ec6\u4ecb\u7ecd\u4e86ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\u7684\u529f\u80fd\u3002<\/strong>ROS\u4e32\u53e3\u53d1\u9001\u6570\u636e\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u8005\u8f7b\u677e\u6784\u5efa\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\uff0c\u5e76\u4f7f\u7528\u4e32\u53e3\u53d1\u9001\u6570\u636e\uff0c\u5b9e\u73b0\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u66f4\u591a\u529f\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

ROS\uff08RobotOperatingSystem\uff09\u662f\u4e00\u6b3e\u9762\u5411\u673a\u5668\u4eba\u5f00\u53d1\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5b83\u63d0\u4f9b\u4e86\u4e00\u5957\u7edf\u4e00\u7684\u7f16\u7a0b\u6846\u67b6\uff0c\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u8005\u8f7b\u677e\u6784\u5efa\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\uff0c\u5e76\u4f7f\u7528\u4e32\u53e3\u53d1\u9001\u6570<\/p>\n","protected":false},"author":1,"featured_media":4132,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"default","ast-global-header-display":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","footnotes":""},"categories":[36],"tags":[69],"class_list":["post-58873","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog","tag-cktx"],"_links":{"self":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts\/58873","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/comments?post=58873"}],"version-history":[{"count":0,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts\/58873\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/media\/4132"}],"wp:attachment":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/media?parent=58873"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/categories?post=58873"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/tags?post=58873"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}