{"id":10926,"date":"2021-05-19T14:13:22","date_gmt":"2021-05-19T06:13:22","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=10926"},"modified":"2022-08-26T15:59:43","modified_gmt":"2022-08-26T07:59:43","slug":"duckietown-duckiebot-db21m-part2","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2021\/05\/19\/duckietown-duckiebot-db21m-part2\/","title":{"rendered":"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e8c) &#8211; differential drive configuration\u7684\u4f7f\u7528"},"content":{"rendered":"\n<figure class=\"wp-block-gallery columns-1 is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"3001\" height=\"1581\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/0518_03.jpg\" alt=\"\" data-id=\"11038\" data-link=\"https:\/\/www.circuspi.com\/?attachment_id=11038\" class=\"wp-image-11038\"\/><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p><style>\n\/* ###\u5be6\u9a57\u4e0b\u4e00\u5217### *\/\n\na:link {color:#0695e4\n;}    \/* \u8a2d\u5b9a\u5c1a\u672a\u9ede\u95b1\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\na:visited {color:#0695e4\n;} \/* \u8a2d\u5b9a\u904e\u53bb\u66fe\u7d93\u95b1\u904e\u7684\u9023\u7d50 *\/\na:hover {color:#0695e4\n;}   \/* \u8a2d\u5b9a\u6ed1\u9f20\u6e38\u6a19\u6307\u5728\u9023\u7d50\u4f4d\u7f6e\u4e0a\u7684\u6a23\u5f0f *\/\na:active {color:#0000BB;}  \/* \u8a2d\u5b9a\u4e0a\u9ede\u64ca\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\n<\/style><\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-2 is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"547\" height=\"410\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/4.jpg\" alt=\"\" data-id=\"9979\" data-full-url=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/4.jpg\" data-link=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/4-11\/\" class=\"wp-image-9979\"\/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"542\" height=\"407\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/3.jpg\" alt=\"\" data-id=\"9978\" data-full-url=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/3.jpg\" data-link=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/3-11\/\" class=\"wp-image-9978\"\/><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p>\u82e5\u60a8\u5df2\u8b80\u5b8c\u672c\u7bc7\u60f3\u8981\u4e86\u89e3\u66f4\u591a\u672c\u6b21 Duckietown \u7cfb\u5217\u7684\u64cd\u4f5c\uff0c\u8acb\u53c3\u8003 :<\/p>\n\n\n\n<ul><li><a rel=\"noreferrer noopener\" aria-label=\"Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39 (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/\" target=\"_blank\">Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39<\/a><\/li><li><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/?preview_id=10575&amp;preview_nonce=11160c3e23&amp;preview=true&amp;_thumbnail_id=11032\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00) (opens in a new tab)\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/a><\/li><\/ul>\n\n\n<p><!--EndFragment--><\/p>\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u524d\u8a00<\/h2>\n\n\n\n<p>\u4e0a\u4e00\u7bc7\u6587\u7ae0 \u300c<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/\" target=\"_blank\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/a>\u300d\u4e2d\uff0c\u6211\u5011\u6210\u529f\u7684\u4f7f\u7528\u9375\u76e4\u9060\u7aef\u9059\u63a7\u5c0f\u9d28\u8eca DB21M(\u4ee5\u4e0b\u7686\u7c21\u7a31\u70ba\u5c0f\u9d28\u8eca)\u3002<\/p>\n\n\n\n<p>\u4e0d\u904e\u5728\u9059\u63a7\u5c0f\u9d28\u8eca\u7684\u904e\u7a0b\u4e2d\uff0c\u53ef\u4ee5\u767c\u73fe\u5230\u5c0f\u9d28\u8eca\u5728\u524d\u9032\u6642\uff0c\u884c\u9032\u7684\u8def\u7dda\u8d8a\u4f86\u8d8a\u6b6a\u659c\uff0c\u539f\u672c\u61c9\u8a72\u8981\u300c\u76f4\u76f4\u300d\u524d\u9032\u7684\u5c0f\u9d28\u8eca\uff0c\u6700\u5f8c\u5c45\u7136\u8b8a\u6210\u5411\u5de6\u5f4e\u6216\u5411\u53f3\u5f4e\u7684\u5c0f\u9d28\u8eca\u4e86\uff01\u9019\u6a23\u7684\u8eca\u5b50\u6c92\u6709\u8fa6\u6cd5\u597d\u597d\u7684\u9059\u63a7\u554a\uff5e<\/p>\n\n\n\n<p>\u9019\u6642\u6211\u5011\u5c31\u53ef\u4ee5\u4f7f\u7528 differential drive configuration\uff0c\u8b93 duckiebot \u53ef\u4ee5\u7a69\u7a69\u5730\u8d70\u5728\u4e00\u689d\u76f4\u7dda\u4e0a\u5594\uff01\u4e8b\u4e0d\u5b9c\u9072\uff0c\u6211\u5011\u5c31\u4f86\u770b\u770b\u8981\u5982\u4f55\u6821\u6b63\u5c0f\u9d28\u8eca\u7684\u884c\u9032\u8def\u7dda\u5427!<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001Differential drive configuration<\/h2>\n\n\n\n<p>\u70ba\u4e86\u8b93\u8eca\u5b50\u7684\u79fb\u52d5\u662f\u53ef\u4ee5\u88ab\u63a7\u5236\u7684\uff0c\u6211\u5011\u6703\u9700\u8981\u4f7f\u7528\u300c\u6578\u5b78\u6a21\u578b\u300d\u3002\u5229\u7528\u9019\u4e9b\u6578\u5b78\u6a21\u578b\uff0c\u6211\u5011\u53ef\u4ee5\u91cf\u5316\u4e00\u4e9b\u5fc5\u8981\u6027\u7684\u53c3\u6578\u6578\u503c\uff0c\u4f86\u5e6b\u52a9\u6211\u5011\u5b8c\u6210\u7279\u5b9a\u7684\u4efb\u52d9\u3002<\/p>\n\n\n\n<p>\u5c0f\u9d28\u8eca\u662f\u4e00\u53f0\u300c\u5dee\u52d5\u8f2a\u578b\u6a5f\u5668\u4eba(differential drive robot)\u300d \uff0c\u6bcf\u500b\u8f2a\u80ce\u7684\u904b\u8f49\u90fd\u662f\u900f\u904e DC \u99ac\u9054\u63a7\u5236\u7684\u3002DC \u99ac\u9054\u63a5\u6536\u5230\u8f38\u5165\u7684\u96fb\u58d3\uff0c\u4fbf\u6703\u958b\u59cb\u904b\u8f49\u4e26\u7522\u751f\u626d\u77e9\u8f49\u52d5\u99ac\u9054\u4e0a\u7684\u8ef8\uff0c\u5f9e\u800c\u8b93\u8f2a\u80ce\u65cb\u8f49\u3002\u7d93\u7531\u8f2a\u80ce\u7684\u8f49\u52d5\uff0c\u6a5f\u5668\u4eba\u4fbf\u6703\u96a8\u8457\u6642\u9593\u4e0d\u65b7\u5730\u6539\u8b8a\u81ea\u8eab\u7684\u59ff\u614b(pose)\uff0c\u9019\u500b\u59ff\u614b\u4fbf\u662f\u6211\u5011\u60f3\u8981\u91cf\u5316\u7684\u8cc7\u6599\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote\"><p><strong> \u6240\u8b02\u300c\u5dee\u52d5\u8f2a\u578b\u6a5f\u5668\u4eba (differential drive robot) \u300d\uff0c\u5373\u662f\u6307\u4f9d\u64da\u6a5f\u8eab\u5169\u5074\u7368\u7acb\u7684\u9a45\u52d5\u8f2a\u4f86\u79fb\u52d5\u7684\u6a5f\u5668\u4eba\u3002 <\/strong><\/p><\/blockquote>\n\n\n\n<p>\u56e0\u6b64\u900f\u904e\u6578\u5b78\u6a21\u578b\uff0c\u6211\u5011\u5c07\u53ef\u4ee5\u89e3\u7b54\u4e0b\u5217\u5169\u500b\u554f\u984c\uff1a<\/p>\n\n\n\n<ul><li>\u7d66\u5b9a\u4e00\u9023\u4e32\u7684\u6307\u4ee4\u7d66\u8f2a\u80ce\u5f8c\uff0c\u6a5f\u5668\u4eba\u5c07\u6703\u5982\u4f55\u79fb\u52d5\uff1f<\/li><li>\u5982\u679c\u6211\u5011\u60f3\u8981\u6a5f\u5668\u4eba\u6309\u7167\u7279\u5b9a\u7684\u65b9\u6cd5\u79fb\u52d5\uff0c\u6211\u5011\u9700\u8981\u50b3\u9001\u4ec0\u9ebc\u6307\u4ee4\uff1f<\/li><\/ul>\n\n\n\n<p>\u6b64\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u4e0d\u8a0e\u8ad6\u6578\u5b78\u6a21\u578b\u7684\u63a8\u5c0e\u904e\u7a0b\uff0c\u50c5\u5c07\u5c0f\u9d28\u8eca\u7684\u904b\u52d5\u5b78\u6578\u5b78\u6a21\u578b\u5217\u51fa :<\/p>\n\n\n\n<ul><li>\u53f3\u8f2a\uff1a(gain + trim)(v + 0.5 * omega * baseline)\uff0f(radius * k)<\/li><li>\u5de6\u8f2a\uff1a(gain &#8211; trim)(v + 0.5 * omega * baseline)\uff0f(radius * k)<\/li><\/ul>\n\n\n\n<p>\u5728\u4e0a\u8ff0\u7684\u6578\u5b78\u6a21\u578b\u4e2d\uff0c\u63d0\u53ca\u7684\u5404\u9805\u53c3\u6578 :<\/p>\n\n\n\n<ul><li>gain\uff1a\u671f\u671b\u7684\u901f\u5ea6\u6bd4\u4f8b\u4fc2\u6578\u3002\u9810\u8a2d\u503c\u70ba 1.0&nbsp;<\/li><li>trim\uff1a\u99ac\u9054\u5de6\u3001\u53f3\u8f2a\u7684\u4fee\u6574\u7cfb\u6578\uff0c\u7528\u4f86\u8abf\u6574\u5de6\u53f3\u8f2a\u7684\u901f\u5dee\uff0c\u4ee5\u4fbf\u8b93\u6a5f\u5668\u4eba\u5728\u4e0b\u9054\u524d\u9032\u6307\u4ee4\u6642\uff0c\u80fd\u5920\u76f4\u884c\u5f80\u524d\u3002\u9810\u8a2d\u503c\u70ba 0.0 <\/li><li>baseline : \u5de6\u3001\u53f3\u8f2a\u80ce\u8ef8\u5fc3\u9593\u7684\u8ddd\u96e2\uff0c\u9810\u8a2d\u503c\u70ba 0.1(m)<\/li><li>radius\uff1a\u8f2a\u80ce\u7684\u534a\u5f91\uff0c\u9810\u8a2d\u503c\u70ba 0.0318(m)<\/li><li>k\uff1a<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/zh.wikipedia.org\/wiki\/%E9%A6%AC%E9%81%94%E5%B8%B8%E6%95%B8\" target=\"_blank\">\u99ac\u9054\u5e38\u6578<\/a>\uff0c\u5728\u6b64\u5047\u5b9a\u5de6\u3001\u53f3\u99ac\u9054\u7684\u99ac\u9054\u5e38\u6578\u76f8\u7b49\uff0c\u9810\u8a2d\u503c\u70ba 27.0<\/li><li>v\uff1a\u7531\u5916\u90e8\u7d66\u5b9a\u7684\u7dda\u6027\u901f\u5ea6\u503c<\/li><li>omega\uff1a\u7531\u5916\u90e8\u7d66\u5b9a\u7684\u89d2\u901f\u5ea6\u503c<\/li><\/ul>\n\n\n\n<p>\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u6839\u64da\u5c0f\u9d28\u8eca\u7684\u904b\u52d5\u5b78\u6578\u5b78\u6a21\u578b\uff0c\u958b\u59cb\u6821\u6b63\u5c0f\u9d28\u8eca\u56c9\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u64cd\u4f5c\u74b0\u5883\u9700\u6c42<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u5b8c\u6210 Duckietown \u7684\u74b0\u5883\u8a2d\u5b9a<\/h3>\n\n\n\n<p>\u6211\u5011\u9700\u8981\u4e00\u500b\u80fd\u5920\u9032\u884c\u9060\u7aef\u64cd\u4f5c\u7684\u4e3b\u6a5f\u7cfb\u7d71\uff0c\u624d\u80fd\u5920\u5feb\u901f\u5730\u4f7f\u7528 differential drive configuration\uff0c\u4f86\u6821\u6b63\u5c0f\u9d28\u8eca\u7684\u884c\u9032\u8def\u7dda\u3002Duckietown \u7684\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\uff0c\u8acb\u53c3\u7167\u300c<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/\" target=\"_blank\">Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39<\/a>\u300d\u6b64\u7bc7\u6587\u7ae0 \u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u4f7f\u7528\u9375\u76e4\uff0c\u9060\u7aef\u9059\u63a7\u5c0f\u9d28\u8eca<\/h3>\n\n\n\n<p>Duckietown\u7684\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u5b8c\u6210\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u4f9d\u7167\u300c<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/\" target=\"_blank\">Duckietown \u5c08\u6848 &#8211; Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/a>\u300d\uff0c\u9060\u7aef\u64cd\u4f5c\u5c0f\u9d28\u8eca\u3002\u7576\u78ba\u8a8d\u80fd\u5920\u9060\u7aef\u9059\u63a7\u5c0f\u9d28\u8eca\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u958b\u59cb\u6e96\u5099\u6821\u6b63\u5c0f\u9d28\u8eca\u56c9\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u56db\u3001\u6821\u6b63\u8207\u53c3\u6578\u8a2d\u5b9a<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u958b\u555f duckietown-shell \u7684 GUI \u5de5\u5177<\/h3>\n\n\n\n<p>duckietown-shell \u4f7f\u7528 Docker \u6280\u8853\uff0c\u5c07\u6574\u500b\u5c08\u6848\u7684\u64cd\u4f5c\u74b0\u5883\u4ee5\u5bb9\u5668\u5316\u7684\u65b9\u5f0f\uff0c\u57f7\u884c\u5404\u9805\u6307\u4ee4\uff0c\u9019\u8b93\u6211\u5011\u5728\u4f7f\u7528 duckietown \u5c08\u6848\u6642\uff0c\u4e0d\u9808\u82b1\u8cbb\u6642\u9593\u5728\u64cd\u4f5c\u74b0\u5883\u7684\u8a2d\u5b9a\u8207\u9664\u932f\uff0c\u80fd\u5920\u5c07\u6ce8\u610f\u529b\u5c08\u6ce8\u5728\u81ea\u52d5\u99d5\u99db\u8eca\u7684\u5b78\u7fd2\u4e0a\u3002<\/p>\n\n\n\n<p>\u8acb\u5728\u64cd\u4f5c\u4e3b\u6a5f\u4e0a\uff0c\u8f38\u5165\u6307\u4ee4\u958b\u555f duckietown-shell \u7684 GUI\u5de5\u5177\uff1a<span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ dts start_gui_tools hostname<\/span><\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-style-large\"><p><strong>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0chostname \u6307\u7684\u662f\u5c0f\u9d28\u8eca\u7684\u5be6\u9ad4\u6a5f\u5668\u540d\u7a31\uff0c\u8acb\u4e0d\u8981\u76f4\u63a5\u8f38\u5165 hostname \u5b57\u6a23\u3002\u672c\u6559\u5b78\u7bc4\u4f8b\u7684 hostname \u4f7f\u7528\u7684\u662f edu\uff0c\u5982\u4e0b\u5716\u6240\u793a<\/strong>\uff1a<\/p><\/blockquote>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/U0mo7gvLkd4Bwp5fIxtMp5sxbWGAf54vZ6rj9XfQwQ8yG2Ul1QKudb6LSH9BWz3fIUmCaXmsCMu3wOoI-bDNmYYpXMHh47N5TZPpZrl1bu2L_GqbQM3oexI4c2vGBx3lPFKgpORN\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u641c\u5c0b ROS \u7cfb\u7d71\u7684\u53c3\u6578<\/h3>\n\n\n\n<p>\u6211\u5011\u53ef\u4ee5\u900f\u904e ROS \u7cfb\u7d71\uff0c\u5373\u6642\u4fee\u6539\u5c0f\u9d28\u8eca\u7684\u904b\u52d5\u5b78\u6578\u5b78\u6a21\u578b\u4e2d\u7684\u53c3\u6578\u3002<\/p>\n\n\n\n<p>\u5728\u9032\u5165 start_gui_tools \u7684 Terminal \u8996\u7a97\u4e2d\uff0c\u8f38\u5165\u6307\u4ee4\u958b\u59cb\u641c\u5c0b ROS\u7cfb\u7d71\u4e2d\u7684\u53c3\u6578 :&nbsp;<span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ rosparam list<\/span><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/aAu27OVTVY9BWvBklZbGsf1VWrlFxVqZUhIKqcAXl_hSFx3kKm9HEJ73iNvr75_pOveVbnCGSBZkoJp1epp3qjfQncP6ANdGVP3Itsf46feiTet_HVXxEwo4zFeic-KN5ErsK-hJ\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u5728\u4e00\u9577\u4e32\u7684\u53c3\u6578\u4e2d\uff0c\u6211\u5011\u4e3b\u8981\u4fee\u6539\u7684\u53c3\u6578\u6709\u5169\u500b\uff0c\u5206\u5225\u70ba<\/p>\n\n\n\n<ul><li>\/hostname\/kinematics_node\/gain<\/li><li>\/hostname\/kinematics_node\/trim<\/li><\/ul>\n\n\n\n<blockquote class=\"wp-block-quote is-style-large\"><p><strong>\u8acb\u8a18\u5f97\uff0chostname \u6307\u7684\u662f\u5c0f\u9d28\u8eca\u7684\u5be6\u9ad4\u6a5f\u5668\u540d\u7a31\uff0c\u8acb\u4e0d\u8981\u76f4\u63a5\u627e\u5c0b hostname\u7684\u5b57\u6a23\uff0c\u672c\u6559\u5b78\u7bc4\u4f8b\u7684 hostname \u4f7f\u7528\u7684\u662f edu\u3002<\/strong><\/p><\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u8a2d\u5b9a\u5c0f\u9d28\u8eca\u904b\u52d5\u5b78\u6578\u5b78\u6a21\u578b\u4e2d\u7684\u53c3\u6578<\/h3>\n\n\n\n<p>\u63a5\u8457\u6211\u5011\u5c07\u4f7f\u7528 rosparam \u7684\u6307\u4ee4\uff0c\u4f86\u64f7\u53d6\u6216\u8a2d\u5b9a ROS \u7cfb\u7d71\u4e2d\u7684\u53c3\u6578\u3002<\/p>\n\n\n\n<ul><li>\u64f7\u53d6 ROS \u7cfb\u7d71\u53c3\u6578 : rosparam get \u3010parameter name\u3011<\/li><li>\u8a2d\u5b9a ROS \u7cfb\u7d71\u53c3\u6578 : rosparam set&nbsp; \u3010parameter name\u3011<\/li><\/ul>\n\n\n\n<p>\u672c\u6559\u5b78\u7bc4\u4f8b\u5c07\u4ee5\u4fee\u6539\u53c3\u6578 \u3010\/hostname\/kinematics_node\/trim\u3011\u70ba\u7bc4\u4f8b\u3002<\/p>\n\n\n\n<p>\u6839\u64da\u5c0f\u9d28\u8eca\u7684\u904b\u52d5\u5b78\u6578\u5b78\u6a21\u578b\uff0c\u6211\u5011\u53ef\u4ee5\u770b\u51fa :<\/p>\n\n\n\n<ul><li>trim &gt; 0 :&nbsp; \u53f3\u8f2a\u901f\u5ea6\u52a0\u5feb\uff0c\u5c0f\u9d28\u8eca\u5728\u524d\u9032\u6642\u5c07\u6703\u504f\u5de6\u524d\u9032<\/li><li>trim &lt; 0 :&nbsp; \u5de6\u8f2a\u901f\u5ea6\u52a0\u5feb\uff0c\u5c0f\u9d28\u8eca\u5728\u524d\u9032\u6642\u5c07\u6703\u504f\u53f3\u524d\u9032<\/li><\/ul>\n\n\n\n<p>\u73fe\u5728\u5728\u6559\u5b78\u7bc4\u4f8b\u4e2d\u7684\u5c0f\u9d28\u8eca\uff0c\u5728\u524d\u9032\u6642\u6703\u504f\u5de6\u79fb\u52d5\uff0c\u8868\u793a\u76ee\u524d\u7684 trim \u503c\uff0c\u6703\u8b93\u5c0f\u9d28\u8eca\u7684\u53f3\u8f2a\u901f\u5ea6\u6bd4\u5de6\u8f2a\u5feb\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/lc_foh22syppaADWZXcIimTaE9lgFLH-qWmG9DJZfQgFur1Vi7WAZ_GqL6zl2RtUK7DMGk5PrZOewQgzR308fYhY0nxNcl6hgc9koCOIeoG83X4Dvhtp91YicZHw3gdSDohaVnkr\" alt=\"\" width=\"460\" height=\"811\"\/><\/figure><\/div>\n\n\n\n<p>\u70ba\u4e86\u6539\u5584\u5c0f\u9d28\u8eca\u524d\u9032\u6642\u504f\u5411\u5de6\u908a\u79fb\u52d5\u7684\u60c5\u5f62\uff0c\u6211\u5011\u9700\u8981\u5411\u4e0b\u4fee\u6b63 trim \u503c\uff0c\u56e0\u6b64\u8f38\u5165\u76f8\u5c0d\u61c9\u7684\u6307\u4ee4\uff0c\u5411\u4e0b\u4fee\u6b63 trim \u503c :<\/p>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ rosparam set \/hostname\/kinematics_node\/trim value<\/span><\/p>\n\n\n\n<p>\u5176\u4e2d hostname \u662f\u5c0f\u9d28\u8eca\u7684\u5be6\u9ad4\u6a5f\u5668\u540d\u7a31\uff0c\u800c value \u5247\u662f\u60f3\u8981\u4fee\u6b63\u7684\u6578\u503c\u3002\u4e0b\u5716\u5c07\u5c55\u793a\u672c\u7bc7\u6587\u7ae0\u4e2d\u6240\u4f7f\u7528\u7684\u6307\u4ee4\uff0c\u8b93\u5de6\u8f2a\u7684\u901f\u5ea6\u52a0\u5feb\u3001\u53f3\u8f2a\u7684\u901f\u5ea6\u6e1b\u6162\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/BAobD2lfjlM2V3DXZ0Zwlh4PgKUfQGG-SLtgpwgDRvd1ntSHJ32ES8_mCACjTY7jRC6wrcUkHwz5oyBXnQmxqrOpQLXiwR366eQoCHCAZo7Rycv5IuJ4H8hOWMb7xVi0Np5_2D8k\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u63a5\u8457\u6211\u5011\u4fbf\u9700\u8981\u900f\u904e\u591a\u6b21\u7684\u79fb\u52d5\u5c0f\u9d28\u8eca\u8207\u8a2d\u5b9a\u5c0f\u9d28\u8eca\u53c3\u6578\uff0c\u8b93\u5c0f\u9d28\u8eca\u80fd\u5920\u5728\u63a5\u6536\u5230\u524d\u9032\u7684\u6307\u4ee4\u6642\uff0c\u76e1\u91cf\u7684\u8d70\u5728\u4e00\u689d\u76f4\u7dda\u4e0a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/wY-mJZ8sv09NU9N8CA4XdOPeZOVhAfKa7Ek8O9mwLjaFObIw6OyUozqwkHnoxozh3nYS-ViUr8NCPwuCpDFiD6QodAHT7yDs1BFjquqT2YrXNI-hf56YOEpRLGSi3qmNJ1CsCFPw\" alt=\"\" width=\"485\" height=\"855\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u5132\u5b58\u8a2d\u5b9a\u597d\u7684\u53c3\u6578<\/h3>\n\n\n\n<p>\u7576\u5c0f\u9d28\u8eca\u5728\u8abf\u6574\u53c3\u6578\u5f8c\uff0c\u80fd\u5920\u8d70\u5728\u4e00\u689d\u76f4\u7dda\u6642\uff0c\u4fbf\u53ef\u4ee5\u5c07\u8abf\u6574\u597d\u7684\u53c3\u6578\u5132\u5b58\u8d77\u4f86\u3002\u4e0b\u5217\u6307\u4ee4\u70ba\u5132\u5b58\u8abf\u6574\u597d\u7684\u53c3\u6578\u6307\u4ee4:<\/p>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ rosservice call \/hostname\/kinematics_node\/save_calibration&nbsp;<\/span><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/6JSRPpYWeFE9adjDtFYs5-nowv72Wjdhr-rF2C-DroxmBkBD2q-Qrja-UmddVcDV296GY-cYur0othcNK3z5_BOILy13pI69plAWP8_bY-U-dRwkydHqQ3H2YF6mdHG99dg202QF\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u5c07\u53c3\u6578\u5132\u5b58\u5b8c\u6210\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u653e\u5fc3\u5730\u95dc\u9589\u5c0f\u9d28\u8eca\u7684\u7cfb\u7d71\u56c9\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u5ef6\u4f38\u95b1\u8b80<\/h2>\n\n\n\n<p>\u82e5\u60f3\u8981\u66f4\u52a0\u4e86\u89e3\u5c0f\u9d28\u8eca\u7684 Differential drive configuration \u662f\u5982\u4f55\u63a8\u5c0e\u51fa\u4f86\u7684\uff0c\u53ef\u4ee5\u81f3 <a href=\"https:\/\/www.edx.org\/course\/self-driving-cars-with-duckietown\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">duckietown<\/a> \u7684\u7dda\u4e0a\u8ab2\u7a0b\u67e5\u95b1\u5594\uff01<\/p>\n\n\n\n<p>\u672c\u6b21\u7684\u5c0f\u9d28\u8eca\u6821\u6b63\u4fbf\u5230\u9019\u908a\u7d50\u675f\u56c9\uff01\u4e0b\u4e00\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u6703\u6301\u7e8c\u4ecb\u7d39\u5c0f\u9d28\u8eca\u66f4\u591a\u7684\u64cd\u4f5c\u529f\u80fd\uff01\u8acb\u5404\u4f4d\u591a\u591a\u95dc\u6ce8\u8207\u5206\u4eab\u6211\u5011\u7684\u6587\u7ae0\u5594\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0a\u4e00\u7bc7\u6587\u7ae0 \u300cDuckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)\u300d\u4e2d\uff0c\u6211\u5011\u6210\u529f\u7684\u4f7f\u7528\u9375\u76e4\u9060\u7aef\u9059\u63a7\u3002\u672c\u7bc7\u6587\u7ae0\u8981\u6559\u5927\u5bb6\u5982\u4f55\u70ba\u76ee\u524d\u8d70\u4e0d\u76f4\u7684Duckiebot DB21M \u5c0f\u9d28\u8eca\uff0c\u900f\u904e differential drive configuration\u6821\u6b63\uff0c\u8b93\u5c0f\u9d28\u8eca\u80fd\u5920\u8d70\u5728\u6b63\u78ba\u7684\u8def\u7dda\u4e0a\u3002<\/p>\n","protected":false},"author":1,"featured_media":11038,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[101,34,238],"tags":[184,179,178,118,119],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/10926"}],"collection":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/comments?post=10926"}],"version-history":[{"count":15,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/10926\/revisions"}],"predecessor-version":[{"id":12537,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/10926\/revisions\/12537"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/11038"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=10926"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=10926"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=10926"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=10926"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}