{"id":52012,"date":"2024-12-03T16:02:28","date_gmt":"2024-12-03T08:02:28","guid":{"rendered":"https:\/\/fwq.ai\/blog\/52012\/"},"modified":"2024-12-03T16:02:28","modified_gmt":"2024-12-03T08:02:28","slug":"ros%e6%98%aflinux%e5%8f%91%e8%a1%8c%e7%89%88%e6%9c%ac%e5%90%97","status":"publish","type":"post","link":"https:\/\/fwq.ai\/blog\/52012\/","title":{"rendered":"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417"},"content":{"rendered":"

<\/b> <\/p>\n

ros\u662flinux\u53d1\u884c\u7248\u672c\u5417<\/h1>\n

\u6700\u8fd1\u53d1\u73b0\u4e0d\u5c11\u5c0f\u4f19\u4f34\u90fd\u5bf9\u6587\u7ae0<\/span>\u5f88\u611f\u5174\u8da3\uff0c\u6240\u4ee5\u4eca\u5929\u7ee7\u7eed\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u6587\u7ae0<\/span>\u76f8\u5173\u7684\u77e5\u8bc6\uff0c\u672c\u6587\u300aros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u300b<\/span>\u4e3b\u8981\u5185\u5bb9\u6d89\u53ca\u5230<\/span>\u7b49\u7b49\u77e5\u8bc6\u70b9\uff0c\u5e0c\u671b\u80fd\u5e2e\u5230\u4f60\uff01\u5f53\u7136\u5982\u679c\u9605\u8bfb\u672c\u6587\u65f6\u5b58\u5728\u4e0d\u540c\u60f3\u6cd5\uff0c\u53ef\u4ee5\u5728\u8bc4\u8bba\u4e2d\u8868\u8fbe\uff0c\u4f46\u662f\u8bf7\u52ff\u4f7f\u7528\u8fc7\u6fc0\u7684\u63aa\u8f9e~<\/p>\n<\/p>\n

\n

ros\u662flinux\u53d1\u884c\u7248\u672c\u3002ROS\u5168\u79f0Robot Operating System\uff0c\u8bd1\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff1b\u5b83\u57fa\u4e8eLinux\u5185\u6838\uff0c\u53ea\u80fd\u5728Linux\u4e0b\u8fd0\u884c\u3002ROS\u63d0\u4f9b\u4e00\u4e9b\u6807\u51c6\u64cd\u4f5c\u7cfb\u7edf\u670d\u52a1\uff0c\u4f8b\u5982\u786c\u4ef6\u62bd\u8c61\uff0c\u5e95\u5c42\u8bbe\u5907\u63a7\u5236\uff0c\u5e38\u7528\u529f\u80fd\u5b9e\u73b0\uff0c\u8fdb\u7a0b\u95f4\u6d88\u606f\u4ee5\u53ca\u6570\u636e\u5305\u7ba1\u7406\u3002ROS\u53ef\u4ee5\u5206\u6210\u4e24\u5c42\uff0c\u4f4e\u5c42\u662f\u4e0a\u9762\u63cf\u8ff0\u7684\u64cd\u4f5c\u7cfb\u7edf\u5c42\uff0c\u9ad8\u5c42\u5219\u662f\u5e7f\u5927\u7528\u6237\u7fa4\u8d21\u732e\u7684\u5b9e\u73b0\u4e0d\u540c\u529f\u80fd\u7684\u5404\u79cd\u8f6f\u4ef6\u5305\uff0c\u4f8b\u5982\u5b9a\u4f4d\u7ed8\u56fe\u3001\u884c\u52a8\u89c4\u5212\u3001\u611f\u77e5\u7b49\u3002<\/p>\n<\/blockquote>\n

ROS\u5b9a\u4e49\u4ecb\u7ecd<\/strong><\/h3>\n

ROS\u5168\u79f0Robot Operating System\uff0c\u8bd1\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u3002\u57fa\u4e8eLinux\u5185\u6838\uff0c\u76ee\u524d\u53ea\u80fd\u5728Linux\u4e0b\u8fd0\u884c\u3002<\/p>\n

ROS\u8bbe\u8ba1\u8005\u5c06ROS\u8868\u8ff0\u4e3a\u201cROS = Plumbing + Tools + Capabilities + Ecosystem\u201d\uff0c\u5373ROS\u662f\u901a\u8baf\u673a\u5236\u3001\u5de5\u5177\u8f6f\u4ef6\u5305\u3001\u673a\u5668\u4eba\u9ad8\u5c42\u6280\u80fd\u4ee5\u53ca\u673a\u5668\u4eba\u751f\u6001\u7cfb\u7edf\u7684\u96c6\u5408\u4f53\u3002<\/p>\n

\u987e\u540d\u601d\u4e49\uff0cROS\u662f\u4e00\u4e2a\u7cfb\u7edf\u3002\u5b83\u548c\u6211\u4eec\u7528\u7684\u666e\u901a\u64cd\u4f5c\u7cfb\u7edf\u7c7b\u4f3c\uff0cROS\u5c06\u5e95\u5c42\u7684\u673a\u5668\u4eba\u786c\u4ef6\u5c01\u88c5\u8d77\u6765\uff0c\u4e5f\u5c31\u662f\u8bf4\uff0c\u4e0d\u540c\u7684\u673a\u5668\u4eba\u4e2d\u5305\u542b\u7684\u5404\u79cd\u5e95\u5c42\u53c2\u6570\uff0c\u5728\u4f7f\u7528ROS\u8fdb\u884c\u5f00\u53d1\u7684\u4eba\u5458\u773c\u91cc\uff0c\u90fd\u662f\u4e00\u6837\u7684\u3002\u8fd9\u91cc\u8fd8\u8981\u63d0\u4e00\u4e0b\uff0c\u76ee\u524dROS\u6ca1\u6709\u4e00\u4e2a\u53ef\u89c6\u5316\u754c\u9762\u3002\u6211\u4eec\u6240\u7528\u7684Windows\u3001Linux\u80fd\u76f4\u63a5\u770b\u5230\u56fe\u50cf\u754c\u9762\u5e76\u64cd\u4f5c\uff0c\u662f\u56e0\u4e3a\u5b83\u4eec\u6709\u4e00\u4e2a\u53ef\u89c6\u5316\u754c\u9762\uff0c\u800cROS\u6ca1\u6709\u3002\u6211\u4eec\u6240\u8c13\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5e76\u4e0d\u4e00\u5b9a\u662f\u90fd\u8981\u6709\u53ef\u89c6\u5316\u754c\u9762\u624d\u7b97\u7684\uff0c\u5982\u679c\u6709\u5174\u8da3\u7684\u53ef\u4ee5\u53bb\u770b\u4e00\u4e0b\u6700\u65e9\u671f\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u53ea\u6709\u547d\u4ee4\u884c\uff0c\u5e76\u6ca1\u6709\u7eda\u4e3d\u591a\u5f69\u7684\u754c\u9762\u3002<\/p>\n

ROS\u63d0\u4f9b\u4e00\u4e9b\u6807\u51c6\u64cd\u4f5c\u7cfb\u7edf\u670d\u52a1\uff0c\u4f8b\u5982\u786c\u4ef6\u62bd\u8c61\uff0c\u5e95\u5c42\u8bbe\u5907\u63a7\u5236\uff0c\u5e38\u7528\u529f\u80fd\u5b9e\u73b0\uff0c\u8fdb\u7a0b\u95f4\u6d88\u606f\u4ee5\u53ca\u6570\u636e\u5305\u7ba1\u7406\u3002ROS\u662f\u57fa\u4e8e\u4e00\u79cd\u56fe\u72b6\u67b6\u6784\uff0c\u4ece\u800c\u4e0d\u540c\u8282\u70b9\u7684\u8fdb\u7a0b\u80fd\u63a5\u53d7\uff0c\u53d1\u5e03\uff0c\u805a\u5408\u5404\u79cd\u4fe1\u606f\uff08\u4f8b\u5982\u4f20\u611f\uff0c\u63a7\u5236\uff0c\u72b6\u6001\uff0c\u89c4\u5212\u7b49\u7b49\uff09\u3002<\/p>\n

ROS\u53ef\u4ee5\u5206\u6210\u4e24\u5c42\uff0c\u4f4e\u5c42\u662f\u4e0a\u9762\u63cf\u8ff0\u7684\u64cd\u4f5c\u7cfb\u7edf\u5c42\uff0c\u9ad8\u5c42\u5219\u662f\u5e7f\u5927\u7528\u6237\u7fa4\u8d21\u732e\u7684\u5b9e\u73b0\u4e0d\u540c\u529f\u80fd\u7684\u5404\u79cd\u8f6f\u4ef6\u5305\uff0c\u4f8b\u5982\u5b9a\u4f4d\u7ed8\u56fe\uff0c\u884c\u52a8\u89c4\u5212\uff0c\u611f\u77e5\uff0c\u6a21\u62df\u7b49\u7b49\u3002<\/p>\n

ROS\u662f\u4e00\u4e2a\u591a\u4e49\u8bcd\uff0c\u5b83\u8fd8\u53ef\u4ee5\u662f\u4e00\u79cd\u901a\u8baf\u673a\u5236\u3002\u5728ROS\u5f00\u53d1\u4e2d\uff0c\u7528\u8282\u70b9\uff08Node\uff09\u8868\u793a\u5e94\u7528\u7a0b\u5e8f\uff0c\u4e00\u4e2a\u8282\u70b9\u5c31\u662f\u4e00\u4e2a\u53ef\u6267\u884c\u7a0b\u5e8f\u3002\u8282\u70b9\u4e4b\u95f4\u5c31\u662f\u901a\u8fc7ROS\u8fdb\u884c\u901a\u4fe1\u3002ROS\u901a\u8fc7\u8282\u70b9\u7ba1\u7406\u5668\uff08Master\uff09\u5bf9\u5404\u4e2a\u8282\u70b9\u8fdb\u884c\u7ba1\u7406\u3002\u81f3\u4e8e\u5177\u4f53\u7684\u539f\u7406\u5b9e\u73b0\u7b49\u540e\u7eed\u518d\u8bf4\u3002<\/p>\n

\u6b64\u5916\uff0cROS\u8fd8\u4ee3\u8868\u4e00\u7cfb\u5217\u7528\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u7684\u5de5\u5177\u5305\u3001\u7b97\u6cd5\u3001\u6280\u80fd\u3001\u5e73\u53f0\u3001\u751f\u6001\u7b49\u3002<\/p>\n

ROS\u7684\u5386\u53f2\u3002\u8bf4\u767d\u4e86\uff0cROS\u5c31\u662f\u4e00\u5e2e\u5927\u4f6c\u5728\u5f00\u53d1\u673a\u5668\u4eba\u7684\u65f6\u5019\u89c9\u5f97\u6bd4\u8f83\u597d\u7684\u4e1c\u897f\uff08\u53ef\u4ee5\u662f\u4e00\u4e9b\u597d\u7528\u7684\u5e93\u3001\u8f6f\u4ef6\uff0c\u4e5f\u53ef\u4ee5\u662f\u4e00\u4e9b\u601d\u60f3\u3001\u534f\u8bae\u3001\u6807\u51c6\uff09\u6c47\u96c6\u5728\u4e00\u8d77\u540e\u5f62\u6210\u7684\u4e1c\u897f\u3002\u5728\u673a\u5668\u4eba\u7684\u5f00\u53d1\u4e2d\uff0c\u5404\u79cd\u5404\u6837\u7684\u673a\u5668\u4eba\u6ca1\u6709\u7edf\u4e00\u7684\u6807\u51c6\uff0c\u6bcf\u6b21\u5f00\u53d1\u4e00\u4e2a\u81ea\u5df1\u6ca1\u89c1\u8fc7\u7684\u673a\u5668\u4eba\u90fd\u9700\u8981\u91cd\u65b0\u53bb\u5b66\u4e60\u5927\u91cf\u7684\u4e1c\u897f\uff0c\u5341\u5206\u7684\u4e0d\u65b9\u4fbf\uff0c\u4e8e\u662f\uff0c\u5927\u4f6c\u4eec\u501f\u9274\u64cd\u4f5c\u7cfb\u7edf\u4ea7\u751f\u7684\u601d\u60f3\uff0c\u89c9\u5f97\u4e3a\u4ec0\u4e48\u4e0d\u53ef\u4ee5\u7ed9\u673a\u5668\u4eba\u4e5f\u505a\u4e00\u5957\u7cfb\u7edf\u6765\u5bf9\u5e95\u5c42\u8fdb\u884c\u5c01\u88c5\u5462\uff1f\u4e8e\u662f\uff0cROS\u4ea7\u751f\u4e86\u3002\u7ecf\u8fc7\u5c81\u6708\u7684\u6253\u78e8\uff0cROS\u8d8a\u6765\u8d8a\u5b8c\u5584\uff0c\u7528\u7684\u4eba\u4e5f\u8d8a\u6765\u8d8a\u591a\u4e86\u3002<\/p>\n

ROS\u529f\u80fd\u4f5c\u7528<\/strong><\/p>\n

\u5982\u679c\u4f60\u8981\u95ee\u6211ROS\u662f\u5e72\u4ec0\u4e48\u7684\uff0c\u90a3\u4f60\u53ea\u9700\u8981\u77e5\u9053\u4e00\u53e5\u8bdd\u5c31\u591f\u4e86\u3002ROS\u662f\u7528\u6765\u505a\u673a\u5668\u4eba\u6216\u8005\u673a\u5668\u81c2\u5f00\u53d1\u7684\u3002<\/p>\n

\u673a\u5668\u4eba\u5f00\u53d1\u7684\u5386\u53f2\u4e2d\uff0c\u6807\u51c6\u5316\u7684\u5de5\u4f5c\u8fd8\u662f\u6ca1\u6709\u505a\u5230\u4f4d\u3002\u4e0d\u540c\u7684\u673a\u5668\u4eba\uff0c\u6240\u7528\u7684\u7cfb\u7edf\u3001\u7a0b\u5e8f\u7b49\u7b49\u90fd\u4e0d\u4e00\u6837\uff0c\u8fd9\u6837\u5bfc\u81f4\u53ea\u8981\u8de8\u5e73\u53f0\uff0c\u5f00\u53d1\u8d77\u6765\u5c31\u5341\u5206\u7684\u56f0\u96be\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u6837\u7684\u95ee\u9898\uff0cROS\u8bde\u751f\u4e86\u3002ROS\u53ef\u4ee5\u901a\u8fc7\u5c01\u88c5\uff0c\u4f7f\u5f97\u5e95\u5c42\u786c\u4ef6\u5bf9\u4e8e\u5f00\u53d1\u8005\u6765\u8bf4\u53d8\u5f97\u900f\u660e\uff0c\u5927\u5927\u964d\u4f4e\u4e86\u8de8\u5e73\u53f0\u5f00\u53d1\u7684\u96be\u5ea6\u3002<\/p>\n

\u4e4b\u6240\u4ee5\u9009\u62e9ROS\uff0c\u4e0a\u9762\u8bf4\u4e86\u90a3\u4e48\u591a\u5176\u5b9e\u5927\u5bb6\u4e5f\u5e94\u8be5\u660e\u767d\u4e86\uff0c\u65e0\u975e\u5c31\u662f\uff0c\u7528\u7684\u4eba\u591a\uff0c\u666e\u53ca\u8303\u56f4\u5e7f\u3002ROS\u6240\u5305\u542b\u7684\u9886\u57df\u3001\u8d44\u6599\u3001\u529f\u80fd\u3001\u5185\u5bb9\u3001\u77e5\u8bc6\u7b49\u5341\u5206\u4e30\u5bcc\uff0c\u4e0d\u7528\u5b83\u4f60\u60f3\u53bb\u81ea\u5df1\u7f16\u5e93\u4e48\uff1f<\/p>\n

1. ROS\u7684\u6027\u80fd\u7279\u8272<\/strong><\/h4>\n

\u5728\u6b63\u5f0f\u5b66\u4e60ROS\u4e4b\u524d\uff0c\u5148\u4ecb\u7ecdROS\u7684\u51e0\u4e2a\u7279\u6027\uff0c\u5373\u5143\u64cd\u4f5c\u7cfb\u7edf\u3001\u5206\u5e03\u5f0f\u901a\u4fe1\u673a\u5236\u3001\u677e\u8026\u5408\u8f6f\u4ef6\u6846\u67b6\u3001\u4e30\u5bcc\u7684\u5f00\u6e90\u529f\u80fd\u5e93\u7b49\uff0c\u6765\u5e2e\u5927\u5bb6\u5efa\u7acb\u4e00\u4e9b\u611f\u6027\u7684\u8ba4\u8bc6\u3002<\/p>\n

ROS\u662f\u4e00\u4e2a\u673a\u5668\u4eba\u9886\u57df\u7684\u5143\u64cd\u4f5c\u7cfb\u7edf\u3002\u4e5f\u5c31\u662f\u8bf4\uff0c\u5b83\u5e76\u4e0d\u662f\u771f\u6b63\u610f\u4e49\u4e0a\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5176\u5e95\u5c42\u7684\u4efb\u52a1\u8c03\u5ea6\u3001\u7f16\u8bd1\u3001\u8bbe\u5907\u9a71\u52a8\u7b49\u8fd8\u662f\u7531\u5b83\u7684\u539f\u751f\u64cd\u4f5c\u7cfb\u7edfUbuntu Linux\u5b8c\u6210\u3002<\/p>\n

ROS\u5b9e\u9645\u4e0a\u662f\u8fd0\u884c\u5728Ubuntu Linux\u4e0a\u7684\u4e9a\u64cd\u4f5c\u7cfb\u7edf<\/strong>\uff0c\u6216\u8005\u8bf4\u8f6f\u4ef6\u6846\u67b6\uff0c\u4f46\u63d0\u4f9b\u786c\u4ef6\u62bd\u8c61\u3001\u51fd\u6570\u8c03\u7528\u3001\u8fdb\u7a0b\u7ba1\u7406\u8fd9\u4e9b\u7c7b\u4f3c\u64cd\u4f5c\u7cfb\u7edf\u7684\u529f\u80fd\uff0c\u4e5f\u63d0\u4f9b\u7528\u4e8e\u83b7\u53d6\u3001\u7f16\u8bd1\u3001\u8de8\u5e73\u53f0\u7684\u51fd\u6570\u548c\u5de5\u5177\u3002<\/p>\n

ROS\u7684\u6838\u5fc3\u601d\u60f3\u5c31\u662f\u5c06\u673a\u5668\u4eba\u7684\u8f6f\u4ef6\u529f\u80fd\u505a\u6210\u4e00\u4e2a\u4e2a\u8282\u70b9\uff0c\u8282\u70b9\u4e4b\u95f4\u901a\u8fc7\u4e92\u76f8\u53d1\u9001\u6d88\u606f\u8fdb\u884c\u6c9f\u901a\u3002<\/strong>\u8fd9\u4e9b\u8282\u70b9\u53ef\u4ee5\u90e8\u7f72\u5728\u540c\u4e00\u53f0\u4e3b\u673a\u4e0a\uff0c\u4e5f\u53ef\u4ee5\u90e8\u7f72\u5728\u4e0d\u540c\u4e3b\u673a\u4e0a\uff0c\u751a\u81f3\u8fd8\u53ef\u4ee5\u90e8\u7f72\u5728\u4e92\u8054\u7f51\u4e0a\u3002ROS\u7f51\u7edc\u901a\u4fe1\u673a\u5236\u4e2d\u7684\u4e3b\u8282\u70b9\uff08master\uff09\u8d1f\u8d23\u5bf9\u7f51\u7edc\u4e2d\u5404\u4e2a\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u8fc7\u7a0b\u8fdb\u884c\u7ba1\u7406\u8c03\u5ea6\uff0c\u540c\u65f6\u63d0\u4f9b\u4e00\u4e2a\u7528\u4e8e\u914d\u7f6e\u7f51\u7edc\u4e2d\u5168\u5c40\u53c2\u6570\u7684\u670d\u52a1\u3002<\/p>\n

ROS\u662f\u677e\u8026\u5408\u8f6f\u4ef6\u6846\u67b6\uff0c\u5229\u7528\u5206\u5e03\u5f0f\u901a\u4fe1\u673a\u5236\u5b9e\u73b0\u8282\u70b9\u95f4\u7684\u8fdb\u7a0b\u901a\u4fe1\u3002ROS\u7684\u8f6f\u4ef6\u4ee3\u7801\u4ee5\u677e\u8026\u5408\u65b9\u5f0f\u7ec4\u7ec7\uff0c\u5f00\u53d1\u8fc7\u7a0b\u7075\u6d3b\uff0c\u7ba1\u7406\u7ef4\u62a4\u65b9\u4fbf\u3002<\/p>\n

ROS\u5177\u6709\u4e30\u5bcc\u7684\u5f00\u6e90\u529f\u80fd\u5e93\u3002ROS\u662f\u57fa\u4e8eBSD\uff08Berkeley Software Distribution\uff0c\u4f2f\u514b\u5229\u8f6f\u4ef6\u53d1\u884c\uff09\u534f\u8bae\u7684\u5f00\u6e90\u8f6f\u4ef6\uff0c\u5141\u8bb8\u4efb\u4f55\u4eba\u4fee\u6539\u3001\u91cd\u7528\u3001\u91cd\u53d1\u5e03\u4ee5\u53ca\u5728\u5546\u4e1a\u548c\u95ed\u6e90\u4ea7\u54c1\u4e2d\u4f7f\u7528\uff0c\u4f7f\u7528ROS\u80fd\u591f\u5feb\u6377\u5730\u642d\u5efa\u81ea\u5df1\u7684\u673a\u5668\u4eba\u539f\u578b\u3002<\/p>\n

2. ROS\u7684\u53d1\u884c\u7248\u672c<\/strong><\/h4>\n

\u4e0eLinux\u53d1\u884c\u7248\u7c7b\u4f3c\uff0cROS\u53d1\u884c\u7248\u5185\u7f6e\u4e86\u4e00\u7cfb\u5217\u5e38\u7528\u529f\u80fd\u5305\uff0c\u5373\u5c06ROS\u7cfb\u7edf\u6253\u5305\u5b89\u88c5\u5230\u539f\u751f\u7cfb\u7edf\u4e2d\u3002ROS\u6700\u521d\u662f\u57fa\u4e8eUbuntu\u7cfb\u7edf\u5f00\u53d1\u7684\uff0cROS\u7684\u53d1\u884c\u7248\u672c\u540d\u79f0\u4e5f\u548cUbuntu\u91c7\u7528\u4e86\u540c\u6837\u7684\u89c4\u5219\uff0c\u5373\u7248\u672c\u540d\u79f0\u7531\u4e24\u4e2a\u76f8\u540c\u9996\u5b57\u6bcd\u7684\u82f1\u6587\u5355\u8bcd\u7ec4\u6210\uff0c\u7248\u672c\u9996\u5b57\u6bcd\u6309\u5b57\u6bcd\u8868\u9012\u589e\u987a\u5e8f\u9009\u53d6\uff0c\u56fe1-1\u5c55\u793a\u4e86ROS\u7684\u4e00\u4e9b\u4e3b\u8981\u7248\u672c\u3002<\/p>\n

\"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe\"
\n\"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe1\" \u56fe1-1 ROS\u7684\u4e3b\u8981\u7248\u672c <\/p>\n

ROS\u7cfb\u7edf\u67b6\u6784<\/strong><\/h3>\n

\u5b89\u88c5\u5b8cROS\u540e\uff0c\u5f88\u591a\u670b\u53cb\u5e94\u8be5\u8feb\u4e0d\u53ca\u5f85\u60f3\u7acb\u9a6c\u5f00\u59cb\u5199\u7a0b\u5e8f\u3002\u7531\u4e8eROS\u7684\u67b6\u6784\u6bd4\u8f83\u590d\u6742\uff0c\u4e3a\u4e86\u540e\u9762\u5bb9\u6613\u7406\u89e3\u9047\u5230\u7684\u5404\u79cd\u6982\u5ff5\uff0c\u8fd9\u91cc\u5148\u8ba8\u8bba\u4e00\u4e0bROS\u7684\u7cfb\u7edf\u67b6\u6784\uff0c\u597d\u8ba9\u5927\u5bb6\u5bf9ROS\u4e2d\u7684\u5404\u79cd\u6982\u5ff5\u6709\u5168\u9762\u6027\u628a\u63a7\u3002\u6309\u7167\u5b98\u65b9\u7684\u8bf4\u6cd5\uff0c\u53ef\u4ee5\u5206\u522b\u4ece\u8ba1\u7b97\u56fe<\/strong>\u3001\u6587\u4ef6\u7cfb\u7edf<\/strong>\u548c\u5f00\u6e90\u793e\u533a<\/strong>\u89c6\u89d2\u6765\u7406\u89e3ROS\u67b6\u6784\u3002<\/p>\n

1. \u4ece\u8ba1\u7b97\u56fe\u89c6\u89d2\u7406\u89e3ROS\u67b6\u6784<\/strong><\/h4>\n

ROS\u4e2d\u53ef\u6267\u884c\u7a0b\u5e8f\u7684\u57fa\u672c\u5355\u4f4d\u53eb\u8282\u70b9<\/strong>\uff08node\uff09\uff0c\u8282\u70b9\u4e4b\u95f4\u901a\u8fc7\u6d88\u606f\u673a\u5236\u8fdb\u884c\u901a\u4fe1\uff0c\u8fd9\u6837\u5c31\u7ec4\u6210\u4e86\u4e00\u5f20\u7f51\u72b6\u56fe\uff0c\u4e5f\u53eb\u8ba1\u7b97\u56fe\uff0c\u5982\u56fe1-3\u6240\u793a\u3002<\/p>\n

\"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe2\"
\n\"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe3\" \u56fe1-3 ROS\u7684\u8ba1\u7b97\u56fe\u7ed3\u6784 <\/p>\n

\u8282\u70b9\u662f\u53ef\u6267\u884c\u7a0b\u5e8f\uff0c\u901a\u5e38\u4e5f\u53eb\u8fdb\u7a0b\u3002ROS\u529f\u80fd\u5305\u4e2d\u521b\u5efa\u7684\u6bcf\u4e2a\u53ef\u6267\u884c\u7a0b\u5e8f\u5728\u88ab\u542f\u52a8\u52a0\u8f7d\u5230\u7cfb\u7edf\u8fdb\u7a0b\u4e2d\u540e\uff0c\u5c31\u662f\u4e00\u4e2aROS\u8282\u70b9\uff0c\u5982\u56fe1-3\u4e2d\u7684\u8282\u70b91\u3001\u8282\u70b92\u3001\u8282\u70b93\u7b49\u3002<\/p>\n

\u8282\u70b9\u4e4b\u95f4\u901a\u8fc7\u6536\u53d1\u6d88\u606f\u8fdb\u884c\u901a\u4fe1\uff0c\u6d88\u606f\u6536\u53d1\u673a\u5236\u5206\u4e3a\u8bdd\u9898<\/strong>\uff08topic\uff09\u3001\u670d\u52a1<\/strong>\uff08service\uff09\u548c\u52a8\u4f5c<\/strong>\uff08action\uff09\u4e09\u79cd\uff0c\u5982\u56fe1-3\u4e2d\u7684\u8282\u70b92\u4e0e\u8282\u70b93\u3001\u8282\u70b92\u4e0e\u8282\u70b95\u91c7\u7528\u8bdd\u9898\u901a\u4fe1\uff0c\u8282\u70b92\u4e0e\u8282\u70b94\u91c7\u7528\u670d\u52a1\u901a\u4fe1\uff0c\u8282\u70b91\u4e0e\u8282\u70b92\u91c7\u7528\u52a8\u4f5c\u901a\u4fe1\u3002\u8ba1\u7b97\u56fe\u4e2d\u7684\u8282\u70b9\u3001\u8bdd\u9898\u3001\u670d\u52a1\u3001\u52a8\u4f5c\u90fd\u8981\u6709\u552f\u4e00\u540d\u79f0\u4f5c\u4e3a\u6807\u8bc6\u3002<\/strong><\/p>\n

ROS\u5229\u7528\u8282\u70b9\u5c06\u4ee3\u7801\u548c\u529f\u80fd\u89e3\u8026\uff0c\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u5bb9\u9519\u6027\u548c\u53ef\u7ef4\u62a4\u6027\u3002\u6240\u4ee5\u6700\u597d\u8ba9\u6bcf\u4e2a\u8282\u70b9\u90fd\u5177\u6709\u7279\u5b9a\u7684\u5355\u4e00\u529f\u80fd\uff0c\u800c\u4e0d\u662f\u521b\u5efa\u4e00\u4e2a\u5305\u7f57\u4e07\u8c61\u7684\u5e9e\u5927\u8282\u70b9\u3002\u5982\u679c\u7528C++\u7f16\u5199\u8282\u70b9\uff0c\u9700\u8981\u7528\u5230ROS\u63d0\u4f9b\u7684roscpp\u5e93\uff1b\u5982\u679c\u7528Python\u7f16\u5199\u8282\u70b9\uff0c\u9700\u8981\u7528\u5230ROS\u63d0\u4f9b\u7684rospy\u5e93\u3002<\/p>\n

\u6d88\u606f\u662f\u6784\u6210\u8ba1\u7b97\u56fe\u7684\u5173\u952e\uff0c\u5305\u62ec\u6d88\u606f\u673a\u5236\u548c\u6d88\u606f\u7c7b\u578b\u4e24\u90e8\u5206\u3002\u6d88\u606f\u673a\u5236\u6709\u8bdd\u9898\u3001\u670d\u52a1\u548c\u52a8\u4f5c\u4e09\u79cd\uff0c\u6bcf\u79cd\u6d88\u606f\u673a\u5236\u4e2d\u4f20\u9012\u7684\u6570\u636e\u90fd\u5177\u6709\u7279\u5b9a\u7684\u6570\u636e\u7c7b\u578b\uff08\u5373\u6d88\u606f\u7c7b\u578b\uff09\uff0c\u6d88\u606f\u7c7b\u578b\u53ef\u5206\u4e3a\u8bdd\u9898\u6d88\u606f\u7c7b\u578b\u3001\u670d\u52a1\u6d88\u606f\u7c7b\u578b\u548c\u52a8\u4f5c\u6d88\u606f\u7c7b\u578b\u3002\u6d88\u606f\u673a\u5236\u548c\u6d88\u606f\u7c7b\u578b\u5c06\u57281.5\u8282\u4e2d\u5c55\u5f00\u8bb2\u89e3\u3002<\/p>\n

\u6570\u636e\u5305<\/strong>\uff08rosbag\uff09\u662fROS\u4e2d\u4e13\u95e8\u7528\u6765\u4fdd\u5b58\u548c\u56de\u653e\u8bdd\u9898\u4e2d\u6570\u636e\u7684\u6587\u4ef6\uff0c\u53ef\u4ee5\u5c06\u4e00\u4e9b\u96be\u4ee5\u6536\u96c6\u7684\u4f20\u611f\u5668\u6570\u636e\u7528\u6570\u636e\u5305\u5f55\u5236\u4e0b\u6765\uff0c\u7136\u540e\u53cd\u590d\u56de\u653e\u6765\u8fdb\u884c\u7b97\u6cd5\u6027\u80fd\u8c03\u8bd5\u3002<\/p>\n

\u53c2\u6570\u670d\u52a1\u5668\u80fd\u591f\u4e3a\u6574\u4e2aROS\u7f51\u7edc\u4e2d\u7684\u8282\u70b9\u63d0\u4f9b\u4fbf\u4e8e\u4fee\u6539\u7684\u53c2\u6570\u3002\u53c2\u6570\u53ef\u4ee5\u8ba4\u4e3a\u662f\u8282\u70b9\u4e2d\u53ef\u4f9b\u5916\u90e8\u4fee\u6539\u7684\u5168\u5c40\u53d8\u91cf\uff0c\u6709\u9759\u6001\u53c2\u6570\u548c\u52a8\u6001\u53c2\u6570\u3002\u9759\u6001\u53c2\u6570\u4e00\u822c\u7528\u4e8e\u5728\u8282\u70b9\u542f\u52a8\u65f6\u8bbe\u7f6e\u8282\u70b9\u5de5\u4f5c\u6a21\u5f0f\uff1b\u52a8\u6001\u53c2\u6570\u53ef\u4ee5\u7528\u4e8e\u5728\u8282\u70b9\u8fd0\u884c\u65f6\u52a8\u6001\u914d\u7f6e\u8282\u70b9\u6216\u6539\u53d8\u8282\u70b9\u5de5\u4f5c\u72b6\u6001\uff0c\u6bd4\u5982\u7535\u673a\u63a7\u5236\u8282\u70b9\u91cc\u7684PID\u63a7\u5236\u53c2\u6570\u3002<\/p>\n

\u4e3b\u8282\u70b9\u8d1f\u8d23\u5404\u4e2a\u8282\u70b9\u4e4b\u95f4\u901a\u4fe1\u8fc7\u7a0b\u7684\u8c03\u5ea6\u7ba1\u7406\u3002\u56e0\u6b64\u4e3b\u8282\u70b9\u5fc5\u987b\u8981\u6700\u5148\u542f\u52a8\uff0c\u53ef\u4ee5\u901a\u8fc7roscore\u547d\u4ee4\u542f\u52a8\u3002<\/p>\n

2. \u4ece\u6587\u4ef6\u7cfb\u7edf\u89c6\u89d2\u7406\u89e3ROS\u67b6\u6784<\/strong><\/h4>\n

ROS\u7a0b\u5e8f\u7684\u4e0d\u540c\u7ec4\u4ef6\u8981\u653e\u5728\u4e0d\u540c\u7684\u6587\u4ef6\u5939\u4e2d\uff0c\u8fd9\u4e9b\u6587\u4ef6\u5939\u6839\u636e\u4e0d\u540c\u7684\u529f\u80fd\u5bf9\u6587\u4ef6\u8fdb\u884c\u7ec4\u7ec7\uff0c\u8fd9\u5c31\u662fROS\u7684\u6587\u4ef6\u7cfb\u7edf\u7ed3\u6784\uff0c\u5982\u56fe1-4\u6240\u793a\u3002<\/p>\n

\"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe4\"
\n\"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe5\" \u56fe1-4 ROS\u7684\u6587\u4ef6\u7cfb\u7edf\u7ed3\u6784 <\/p>\n

\u5de5\u4f5c\u7a7a\u95f4\u662f\u4e00\u4e2a\u5305\u542b\u529f\u80fd\u5305\u3001\u7f16\u8bd1\u5305\u548c\u7f16\u8bd1\u540e\u53ef\u6267\u884c\u6587\u4ef6\u7684\u6587\u4ef6\u5939\uff0c\u7528\u6237\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u8981\u521b\u5efa\u591a\u4e2a\u5de5\u4f5c\u7a7a\u95f4\uff0c\u5728\u6bcf\u4e2a\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u5f00\u53d1\u4e0d\u540c\u7528\u9014\u7684\u529f\u80fd\u5305\u3002\u5728\u56fe1-4\u4e2d\uff0c\u6211\u4eec\u521b\u5efa\u4e86\u4e00\u4e2a\u540d\u4e3acatkin_ws\u7684\u5de5\u4f5c\u7a7a\u95f4\uff0c\u5176\u4e2d\u5305\u542bsrc\u3001build\u548cdevel\u4e09\u4e2a\u6587\u4ef6\u5939\u3002<\/p>\n

    \n
  • \n

    src\u6587\u4ef6\u5939<\/strong>\u653e\u7f6e\u5404\u4e2a\u529f\u80fd\u5305\u548c\u914d\u7f6e\u529f\u80fd\u5305\u7684CMake\u914d\u7f6e\u6587\u4ef6CMakeLists.txt\u3002\u8fd9\u91cc\u8bf4\u660e\u4e00\u4e0b\uff0c\u7531\u4e8eROS\u4e2d\u7684\u6e90\u7801\u91c7\u7528catkin\u5de5\u5177\u8fdb\u884c\u7f16\u8bd1\uff0c\u800ccatkin\u5de5\u5177\u53c8\u57fa\u4e8eCMake\u6280\u672f\uff0c\u6240\u4ee5\u6211\u4eec\u5728src\u6e90\u6587\u4ef6\u7a7a\u95f4\u548c\u5404\u4e2a\u529f\u80fd\u5305\u4e2d\u90fd\u4f1a\u89c1\u5230\u4e00\u4e2aCMake\u914d\u7f6e\u6587\u4ef6CMakeLists.txt\uff0c\u8fd9\u4e2a\u6587\u4ef6\u8d77\u5230\u914d\u7f6e\u7f16\u8bd1\u7684\u4f5c\u7528\u3002<\/p>\n<\/li>\n

  • \n

    build\u6587\u4ef6\u5939<\/strong>\u653e\u7f6e\u7f16\u8bd1CMake\u548ccatkin\u529f\u80fd\u5305\u65f6\u4ea7\u751f\u7684\u7f13\u5b58\u3001\u914d\u7f6e\u3001\u4e2d\u95f4\u6587\u4ef6\u7b49\u3002<\/p>\n<\/li>\n

  • \n

    devel\u6587\u4ef6\u5939<\/strong>\u653e\u7f6e\u7f16\u8bd1\u597d\u7684\u53ef\u6267\u884c\u7a0b\u5e8f\uff0c\u8fd9\u4e9b\u53ef\u6267\u884c\u7a0b\u5e8f\u662f\u4e0d\u9700\u8981\u5b89\u88c5\u5c31\u80fd\u76f4\u63a5\u8fd0\u884c\u7684\u3002\u4e00\u65e6\u529f\u80fd\u5305\u6e90\u7801\u7f16\u8bd1\u548c\u6d4b\u8bd5\u901a\u8fc7\u540e\uff0c\u53ef\u4ee5\u5c06\u8fd9\u4e9b\u7f16\u8bd1\u597d\u7684\u53ef\u6267\u884c\u6587\u4ef6\u76f4\u63a5\u5bfc\u51fa\u4e0e\u5176\u4ed6\u5f00\u53d1\u4eba\u5458\u5206\u4eab\u3002<\/p>\n<\/li>\n<\/ul>\n

    \u529f\u80fd\u5305\u662fROS\u4e2d\u8f6f\u4ef6\u7ec4\u7ec7\u7684\u57fa\u672c\u5f62\u5f0f\uff0c\u5177\u6709\u521b\u5efaROS\u7a0b\u5e8f\u7684\u6700\u5c0f\u7ed3\u6784\u548c\u6700\u5c11\u5185\u5bb9\uff0c\u5b83\u5305\u542bROS\u8282\u70b9\u6e90\u7801\u3001\u811a\u672c\u3001\u914d\u7f6e\u6587\u4ef6\u7b49\u3002<\/p>\n

    i. CMakeLists.txt\u662f\u529f\u80fd\u5305\u914d\u7f6e\u6587\u4ef6\uff0c\u7528\u4e8e\u7f16\u8bd1Cmake\u529f\u80fd\u5305\u7f16\u8bd1\u65f6\u7684\u7f16\u8bd1\u914d\u7f6e\u3002<\/p>\n

    ii. package.xml\u662f\u529f\u80fd\u5305\u6e05\u5355\u6587\u4ef6\uff0c\u7528xml\u7684\u6807\u7b7e\u683c\u5f0f\u6807\u8bb0\u8be5\u529f\u80fd\u5305\u7684\u5404\u7c7b\u76f8\u5173\u4fe1\u606f\uff0c\u6bd4\u5982\u5305\u7684\u540d\u79f0\u3001\u5f00\u53d1\u8005\u4fe1\u606f\u3001\u4f9d\u8d56\u5173\u7cfb\u7b49\uff0c\u4e3b\u8981\u662f\u4e3a\u4e86\u4f7f\u529f\u80fd\u5305\u7684\u5b89\u88c5\u548c\u5206\u53d1\u66f4\u5bb9\u6613\u3002<\/p>\n

    iii. include\/<pkg_name>\u662f\u529f\u80fd\u5305\u5934\u6587\u4ef6\u76ee\u5f55\uff0c\u53ef\u4ee5\u628a\u529f\u80fd\u5305\u7a0b\u5e8f\u4e2d\u5305\u542b\u7684*.h\u5934\u6587\u4ef6\u653e\u5728\u8fd9\u91cc\u3002include\u76ee\u5f55\u4e4b\u6240\u4ee5\u8fd8\u8981\u52a0\u4e00\u7ea7\u8def\u5f84<pkg_name>\u662f\u4e3a\u4e86\u66f4\u597d\u5730\u533a\u5206\u81ea\u5df1\u5b9a\u4e49\u7684\u5934\u6587\u4ef6\u548c\u7cfb\u7edf\u6807\u51c6\u5934\u6587\u4ef6\uff0c<pkg_name>\u7528\u5b9e\u9645\u529f\u80fd\u5305\u7684\u540d\u79f0\u66ff\u4ee3\u3002\u4e0d\u8fc7\u8fd9\u4e2a\u6587\u4ef6\u5939\u4e0d\u662f\u5fc5\u8981\u9879\uff0c\u6bd4\u5982\u6709\u4e9b\u7a0b\u5e8f\u6ca1\u6709\u5934\u6587\u4ef6\u3002<\/p>\n

    iv. msg\u3001srv\u548caction\u8fd9\u4e09\u4e2a\u6587\u4ef6\u5939\u5206\u522b\u7528\u4e8e\u5b58\u653e\u975e\u6807\u51c6\u8bdd\u9898\u6d88\u606f\u3001\u670d\u52a1\u6d88\u606f\u548c\u52a8\u4f5c\u6d88\u606f\u7684\u5b9a\u4e49\u6587\u4ef6\u3002ROS\u652f\u6301\u7528\u6237\u81ea\u5b9a\u4e49\u6d88\u606f\u901a\u4fe1\u8fc7\u7a0b\u4e2d\u4f7f\u7528\u7684\u6d88\u606f\u7c7b\u578b\u3002\u8fd9\u4e9b\u81ea\u5b9a\u4e49\u6d88\u606f\u4e0d\u662f\u5fc5\u8981\u7684\uff0c\u6bd4\u5982\u7a0b\u5e8f\u53ea\u4f7f\u7528\u6807\u51c6\u6d88\u606f\u7c7b\u578b\u3002<\/p>\n

    v. scripts\u76ee\u5f55\u5b58\u653eBash\u3001Python\u7b49\u811a\u672c\u6587\u4ef6\uff0c\u4e3a\u975e\u5fc5\u8981\u9879\u3002<\/p>\n

    vi. launch\u76ee\u5f55\u5b58\u653e\u8282\u70b9\u7684\u542f\u52a8\u6587\u4ef6\uff0c*.launch\u6587\u4ef6\u7528\u4e8e\u542f\u52a8\u4e00\u4e2a\u6216\u591a\u4e2a\u8282\u70b9\uff0c\u5728\u542b\u6709\u591a\u4e2a\u8282\u70b9\u7684\u5927\u578b\u9879\u76ee\u4e2d\u5f88\u6709\u7528\uff0c\u4e3a\u975e\u5fc5\u8981\u9879\u3002<\/p>\n

    vii. src\u76ee\u5f55\u5b58\u653e\u529f\u80fd\u5305\u8282\u70b9\u6240\u5bf9\u5e94\u7684\u6e90\u4ee3\u7801\uff0c\u4e00\u4e2a\u529f\u80fd\u5305\u4e2d\u53ef\u4ee5\u6709\u591a\u4e2a\u8282\u70b9\u7a0b\u5e8f\u6765\u5b8c\u6210\u4e0d\u540c\u7684\u529f\u80fd\uff0c\u6bcf\u4e2a\u8282\u70b9\u7a0b\u5e8f\u90fd\u53ef\u4ee5\u5355\u72ec\u8fd0\u884c\u3002\u8fd9\u91ccsrc\u76ee\u5f55\u5b58\u653e\u7684\u662f\u8fd9\u4e9b\u8282\u70b9\u7a0b\u5e8f\u7684\u6e90\u4ee3\u7801\uff0c\u4f60\u53ef\u4ee5\u6309\u9700\u521b\u5efa\u6587\u4ef6\u5939\u548c\u6587\u4ef6\u6765\u7ec4\u7ec7\u6e90\u4ee3\u7801\uff0c\u6e90\u4ee3\u7801\u53ef\u4ee5\u7528C++\u3001Python\u7b49\u7f16\u5199\u3002<\/p>\n

    3. \u4ece\u5f00\u6e90\u793e\u533a\u89c6\u89d2\u7406\u89e3ROS\u67b6\u6784<\/strong><\/h4>\n

    ROS\u662f\u5f00\u6e90\u8f6f\u4ef6\uff0c\u5404\u4e2a\u72ec\u7acb\u7684\u7f51\u7edc\u793e\u533a\u5206\u4eab\u548c\u8d21\u732e\u8f6f\u4ef6\u53ca\u6559\u7a0b\uff0c\u5f62\u6210\u4e86\u5f3a\u5927\u7684ROS\u5f00\u6e90\u793e\u533a\uff0c\u5982\u56fe1-5\u6240\u793a\u3002<\/p>\n

    \"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe6\"
    \n\"ros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u63d2\u56fe7\" \u56fe1-5 ROS\u7684\u5f00\u6e90\u793e\u533a\u7ed3\u6784 <\/p>\n

    ROS\u7684\u53d1\u5c55\u4f9d\u8d56\u4e8e\u5f00\u6e90\u548c\u5171\u4eab\u7684\u8f6f\u4ef6\uff0c\u8fd9\u4e9b\u4ee3\u7801\u7531\u4e0d\u540c\u7684\u673a\u6784\u5171\u4eab\u548c\u53d1\u5e03\uff0c\u6bd4\u5982GitHub\u6e90\u7801\u5171\u4eab\u3001Ubuntu\u8f6f\u4ef6\u4ed3\u5e93\u53d1\u5e03\u3001\u7b2c\u4e09\u65b9\u5e93\u7b49\u3002ROS\u7684\u5b98\u65b9wiki\u662f\u91cd\u8981\u7684\u6587\u6863\u8ba8\u8bba\u793e\u533a\uff0c\u5728\u91cc\u9762\u53ef\u4ee5\u5f88\u65b9\u4fbf\u5730\u53d1\u5e03\u4e0e\u4fee\u6539\u76f8\u5e94\u7684\u6587\u6863\u9875\u9762\u3002ROS\u7684answer\u4e3b\u9875\u91cc\u6709\u5927\u91cfROS\u5f00\u53d1\u8005\u7684\u63d0\u95ee\u548c\u56de\u7b54\uff0c\u5bf9ROS\u5f00\u53d1\u4e2d\u9047\u5230\u7684\u5404\u79cd\u95ee\u9898\u7684\u8ba8\u8bba\u5f88\u6d3b\u8dc3\u3002<\/p>\n

    \u7ec8\u4e8e\u4ecb\u7ecd\u5b8c\u5566\uff01\u5c0f\u4f19\u4f34\u4eec\uff0c\u8fd9\u7bc7\u5173\u4e8e\u300aros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u300b\u7684\u4ecb\u7ecd\u5e94\u8be5\u8ba9\u4f60\u6536\u83b7\u591a\u591a\u4e86\u5427\uff01\u6b22\u8fce\u5927\u5bb6\u6536\u85cf\u6216\u5206\u4eab\u7ed9\u66f4\u591a\u9700\u8981\u5b66\u4e60\u7684\u670b\u53cb\u5427~\u7c73\u4e91\u516c\u4f17\u53f7\u4e5f\u4f1a\u53d1\u5e03\u6587\u7ae0\u76f8\u5173\u77e5\u8bc6\uff0c\u5feb\u6765\u5173\u6ce8\u5427\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"

    ros\u662flinux\u53d1\u884c\u7248\u672c\u5417 \u6700\u8fd1\u53d1\u73b0\u4e0d\u5c11\u5c0f\u4f19\u4f34\u90fd\u5bf9\u6587\u7ae0\u5f88\u611f\u5174\u8da3\uff0c\u6240\u4ee5\u4eca\u5929\u7ee7\u7eed\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u6587\u7ae0\u76f8\u5173\u7684\u77e5\u8bc6\uff0c\u672c\u6587\u300aros\u662flinux\u53d1\u884c\u7248\u672c\u5417\u300b\u4e3b\u8981\u5185\u5bb9\u6d89\u53ca\u5230\u7b49\u7b49\u77e5\u8bc6\u70b9\uff0c\u5e0c\u671b\u80fd\u5e2e\u5230\u4f60\uff01\u5f53\u7136\u5982\u679c\u9605\u8bfb\u672c\u6587\u65f6\u5b58\u5728\u4e0d\u540c\u60f3\u6cd5\uff0c\u53ef\u4ee5\u5728\u8bc4\u8bba\u4e2d\u8868\u8fbe\uff0c\u4f46\u662f\u8bf7\u52ff\u4f7f\u7528\u8fc7\u6fc0\u7684\u63aa\u8f9e~ ros\u662flinux\u53d1\u884c\u7248\u672c\u3002ROS\u5168\u79f0Robot Operating System\uff0c\u8bd1\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff1b\u5b83\u57fa\u4e8eLinux\u5185\u6838\uff0c\u53ea\u80fd\u5728Linux\u4e0b\u8fd0\u884c\u3002ROS\u63d0\u4f9b\u4e00\u4e9b\u6807\u51c6\u64cd\u4f5c\u7cfb\u7edf\u670d\u52a1\uff0c\u4f8b\u5982\u786c\u4ef6\u62bd\u8c61\uff0c\u5e95\u5c42\u8bbe\u5907\u63a7\u5236\uff0c\u5e38\u7528\u529f\u80fd\u5b9e\u73b0\uff0c\u8fdb\u7a0b\u95f4\u6d88\u606f\u4ee5\u53ca\u6570\u636e\u5305\u7ba1\u7406\u3002ROS\u53ef\u4ee5\u5206\u6210\u4e24\u5c42\uff0c\u4f4e\u5c42\u662f\u4e0a\u9762\u63cf\u8ff0\u7684\u64cd\u4f5c\u7cfb\u7edf\u5c42\uff0c\u9ad8\u5c42\u5219\u662f\u5e7f\u5927\u7528\u6237\u7fa4\u8d21\u732e\u7684\u5b9e\u73b0\u4e0d\u540c\u529f\u80fd\u7684\u5404\u79cd\u8f6f\u4ef6\u5305\uff0c\u4f8b\u5982\u5b9a\u4f4d\u7ed8\u56fe\u3001\u884c\u52a8\u89c4\u5212\u3001\u611f\u77e5\u7b49\u3002 ROS\u5b9a\u4e49\u4ecb\u7ecd ROS\u5168\u79f0Robot Operating System\uff0c\u8bd1\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u3002\u57fa\u4e8eLinux\u5185\u6838\uff0c\u76ee\u524d\u53ea\u80fd\u5728Linux\u4e0b\u8fd0\u884c\u3002 ROS\u8bbe\u8ba1\u8005\u5c06ROS\u8868\u8ff0\u4e3a\u201cROS = Plumbing + Tools + Capabilities + Ecosystem\u201d\uff0c\u5373ROS\u662f\u901a\u8baf\u673a\u5236\u3001\u5de5\u5177\u8f6f\u4ef6\u5305\u3001\u673a\u5668\u4eba\u9ad8\u5c42\u6280\u80fd\u4ee5\u53ca\u673a\u5668\u4eba\u751f\u6001\u7cfb\u7edf\u7684\u96c6\u5408\u4f53\u3002 \u987e\u540d\u601d\u4e49\uff0cROS\u662f\u4e00\u4e2a\u7cfb\u7edf\u3002\u5b83\u548c\u6211\u4eec\u7528\u7684\u666e\u901a\u64cd\u4f5c\u7cfb\u7edf\u7c7b\u4f3c\uff0cROS\u5c06\u5e95\u5c42\u7684\u673a\u5668\u4eba\u786c\u4ef6\u5c01\u88c5\u8d77\u6765\uff0c\u4e5f\u5c31\u662f\u8bf4\uff0c\u4e0d\u540c\u7684\u673a\u5668\u4eba\u4e2d\u5305\u542b\u7684\u5404\u79cd\u5e95\u5c42\u53c2\u6570\uff0c\u5728\u4f7f\u7528ROS\u8fdb\u884c\u5f00\u53d1\u7684\u4eba\u5458\u773c\u91cc\uff0c\u90fd\u662f\u4e00\u6837\u7684\u3002\u8fd9\u91cc\u8fd8\u8981\u63d0\u4e00\u4e0b\uff0c\u76ee\u524dROS\u6ca1\u6709\u4e00\u4e2a\u53ef\u89c6\u5316\u754c\u9762\u3002\u6211\u4eec\u6240\u7528\u7684Windows\u3001Linux\u80fd\u76f4\u63a5\u770b\u5230\u56fe\u50cf\u754c\u9762\u5e76\u64cd\u4f5c\uff0c\u662f\u56e0\u4e3a\u5b83\u4eec\u6709\u4e00\u4e2a\u53ef\u89c6\u5316\u754c\u9762\uff0c\u800cROS\u6ca1\u6709\u3002\u6211\u4eec\u6240\u8c13\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5e76\u4e0d\u4e00\u5b9a\u662f\u90fd\u8981\u6709\u53ef\u89c6\u5316\u754c\u9762\u624d\u7b97\u7684\uff0c\u5982\u679c\u6709\u5174\u8da3\u7684\u53ef\u4ee5\u53bb\u770b\u4e00\u4e0b\u6700\u65e9\u671f\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u53ea\u6709\u547d\u4ee4\u884c\uff0c\u5e76\u6ca1\u6709\u7eda\u4e3d\u591a\u5f69\u7684\u754c\u9762\u3002 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