{"id":17451,"date":"2022-09-15T08:30:00","date_gmt":"2022-09-15T00:30:00","guid":{"rendered":"https:\/\/www.circuspi.com\/?p=17451"},"modified":"2022-09-23T12:30:39","modified_gmt":"2022-09-23T04:30:39","slug":"ros1-introduction","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2022\/09\/15\/ros1-introduction\/","title":{"rendered":"ROS \u6559\u5b78\u7cfb\u5217(\u4e00)\uff0d\u8a8d\u8b58 Robot Operating System(ROS)"},"content":{"rendered":"\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-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1000\" height=\"526\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/09\/1000x526-1.jpg\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u4e00)\uff0d\u8a8d\u8b58 Robot Operating System(ROS)\" class=\"wp-image-17626\"\/><\/figure>\n\n\n\n<p>\u5728\u95b1\u8b80\u904e\u300c<a href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros01\/\" target=\"_blank\" rel=\"noreferrer noopener\">55\u5bb6\u4ee5\u4e0a\u4e16\u754c\u7d1a\u4f01\u696d\u4f7f\u7528\u7684 ROS \u6a5f\u5668\u4eba\u7cfb\u7d71<\/a>\u300d\u5f8c\uff0c\u76f8\u4fe1\u5927\u5bb6\u5c0d <a href=\"https:\/\/www.ros.org\/\" target=\"_blank\" rel=\"noreferrer noopener\">ROS<\/a>\uff08Robot Operating System\uff09\u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u6709\u4e86\u521d\u6b65\u7684\u8a8d\u8b58\uff0c\u672c\u7bc7\u6587\u7ae0\u5c31\u8981\u5e36\u5927\u5bb6\u66f4\u6df1\u5165\u4e86\u89e3 ROS \u7684\u8a73\u7d30\u5167\u5bb9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed aligncenter is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"\u3010ROS \u6559\u5b78\u3011EP.1 \u65b0\u624b\u5982\u4f55\u9078\u64c7ROS\u7684\u7248\u672c | \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\" width=\"1140\" height=\"641\" src=\"https:\/\/www.youtube.com\/embed\/vgcbn5B7Mrw?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001ROS 1 \u7684\u6b77\u53f2\u6df5\u6e90<\/h2>\n\n\n\n<p>Robot Operating System\uff08\u5f8c\u7e8c\u5167\u5bb9\u5c07\u4ee5 ROS 1 \u8868\u793a\uff09\uff0c\u662f\u4e00\u500b\u70ba\u4e86\u5e6b\u52a9\u6a5f\u5668\u4eba\u958b\u767c\u8005\u6240\u8a2d\u8a08\u51fa\u4f86\u7684\u4e00\u5957\u8edf\u9ad4\u7cfb\u7d71\u6846\u67b6\uff0c\u5b83\u64c1\u6709\u773e\u591a\u7684\u5f37\u529b\u958b\u767c\u5de5\u5177\uff0c\u5305\u62ec\u786c\u9ad4\u62bd\u8c61\u5c64\u7684\u63cf\u8ff0\u3001\u9a45\u52d5\u7a0b\u5f0f\u7ba1\u7406\u3001\u5e73\u884c\u8a08\u7b97\u7684\u57f7\u884c\u3001\u7a0b\u5f0f\u9593\u8a0a\u606f\u50b3\u905e\u7b49\uff0c\u53ef\u4ee5\u5927\u5927\u5730\u7c21\u5316\u958b\u767c\u6a5f\u5668\u4eba\u5e73\u53f0\u7684\u8907\u96dc\u4efb\u52d9\u5efa\u7acb\u8207\u7a69\u5b9a\u7248\u672c\u63a7\u5236\u3002\u66f4\u91cd\u8981\u7684\uff0c\u5b83\u662f\u4e00\u500b\u958b\u6e90\u7684\u9805\u76ee\u3002<\/p>\n\n\n\n<p>ROS 1 \u6700\u521d\u662f\u53f2\u4e39\u4f5b\u5927\u5b78\u7684\u4eba\u5de5\u667a\u6167\u5be6\u9a57\u5ba4\u8207\u6a5f\u5668\u4eba\u516c\u53f8 <a href=\"https:\/\/en.wikipedia.org\/wiki\/Willow_Garage\" target=\"_blank\" rel=\"noreferrer noopener\">Willow Garage<\/a> \u5408\u4f5c\u7684\u4e00\u500b\u6a5f\u5668\u4eba\u5c08\u6848\uff0c\u540d\u7a31\u70ba Personal Robots Program\u3002\u9019\u9805\u5c08\u6848\u7814\u767c\u7684\u6a5f\u5668\u4eba PR2 \u5728\u4f7f\u7528 ROS 1 \u7684\u57fa\u4e0a\uff0c\u80fd\u5920\u5b8c\u6210\u6253\u649e\u7403\u3001\u505a\u65e9\u9910\u3001\u758a\u8863\u670d\u7b49\u63a5\u8fd1\u4eba\u985e\u7684\u52d5\u4f5c\uff0c\u56e0\u6b64\u5f15\u8d77\u4e86\u5168\u4e16\u754c\u7684\u95dc\u6ce8\u3002<\/p>\n\n\n\n<p>2008 \u5e74\u5f8c\uff0cROS 1 \u4fbf\u4ea4\u7531 Willow Garage \u7dad\u8b77\uff0c\u4e26\u5728 2010 \u5e74\u6642\u6b63\u5f0f\u4ee5\u958b\u653e\u539f\u59cb\u78bc\u7684\u65b9\u5f0f\uff0c\u5411\u4e16\u754c\u767c\u4f48\u4e86 ROS 1 \u7684\u6846\u67b6\u3002<\/p>\n\n\n\n<p>\u6700\u5f8c\u5728 2013 \u5e74\u6642\u8f49\u4ea4\u7d66\u958b\u6e90\u6a5f\u5668\u4eba\u57fa\u91d1\u6703 <a href=\"https:\/\/www.openrobotics.org\/\" target=\"_blank\" rel=\"noreferrer noopener\">OSRF<\/a>(Open Source Robotics Foundation) \u7e7c\u7e8c\u7dad\u8b77\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001ROS 1 \u7684\u8a2d\u8a08\u76ee\u7684<\/h2>\n\n\n\n<p>\u70ba\u4e86\u589e\u52a0\u958b\u767c\u6a5f\u5668\u4eba\u6642\u6240\u8a2d\u8a08\u7684\u8edf\u9ad4\u4f7f\u7528\u7387\uff0cROS 1 \u88ab\u8a2d\u8a08\u70ba\u4e00\u7a2e\u5206\u6563\u5f0f\u67b6\u69cb\uff0c\u4f7f\u5f97\u5728\u6846\u67b6\u4e2d\u7684\u6bcf\u500b\u529f\u80fd\u6a21\u7d44\u90fd\u53ef\u4ee5\u88ab\u55ae\u7368\u8a2d\u8a08\u3001\u7de8\u8b6f\u3001\u4e26\u4e14\u5728\u57f7\u884c\u6642\u4ee5\u9b06\u6563\u8026\u5408\u7684\u65b9\u5f0f\u7d50\u5408\u5728\u4e00\u8d77\u3002ROS 1 \u4e3b\u8981\u70ba\u6a5f\u5668\u4eba\u958b\u767c\u63d0\u4f9b\u4e86\u786c\u9ad4\u62bd\u8c61\u5c64\u3001\u9a45\u52d5\u7a0b\u5f0f\u3001\u8a0a\u606f\u50b3\u905e\u3001\u7a0b\u5f0f\u7ba1\u7406\u7b49\u529f\u80fd\u8207\u6a5f\u5236\uff0c\u540c\u6642\u6574\u5408\u4e86\u8a31\u591a\u7b2c\u4e09\u65b9\u5de5\u5177\uff0c\u4f8b\u5982 Gazebo\u3001rqt \u7b49\uff0c\u5e6b\u52a9\u958b\u767c\u8005\u80fd\u5920\u5feb\u901f\u5b8c\u6210\u6a5f\u5668\u4eba\u61c9\u7528\u7684\u5efa\u7acb\u3001\u8a2d\u8a08\u8207\u591a\u6a5f\u6574\u5408\u3002\u800c\u4e14 ROS 1 \u4e2d\u7684\u529f\u80fd\u6a21\u7d44\u90fd\u88ab\u5c01\u88dd\u65bc\u7368\u7acb\u7684\u5957\u4ef6\u5305\uff08Package\uff09\uff0c\u4fbf\u65bc\u8b93\u958b\u767c\u8005\u5011\u4e92\u76f8\u5206\u4eab\u3002<\/p>\n\n\n\n<p>\u53ef\u80fd\u6a5f\u5668\u4eba\u662f\u4e00\u500b\u6a6b\u8de8\u591a\u9805\u9818\u57df\u7684\u5c08\u9580\u9805\u76ee\uff0c\u4e00\u4e9b\u5c0d\u65bc\u4eba\u985e\u662f\u5fae\u4e0d\u8db3\u9053\u7684\u52d5\u4f5c\uff0c\u5c0d\u65bc\u6a5f\u5668\u4eba\u4f86\u8aaa\u537b\u662f\u6975\u5176\u8907\u96dc\u7684\u529f\u80fd\u3002\u4f8b\u5982\u5de5\u7a0b\u5e2b\u60f3\u8981\u5728\u773e\u591a\u87ba\u7d72\u7576\u4e2d\uff0c\u62ff\u8d77\u87ba\u7d72\u4e26\u9396\u5728\u5668\u5177\u4e0a\uff0c\u50c5\u9700\u8981\u82b1\u5e7e\u79d2\u6642\u9593\u4fbf\u53ef\u4ee5\u5b8c\u6210\uff0c\u7136\u800c\u82e5\u662f\u60f3\u8981\u5229\u7528\u6a5f\u5668\u4eba\u4f86\u5b8c\u6210\uff0c\u4fbf\u9700\u8981\u4f7f\u7528\u5230\u6a5f\u5668\u624b\u81c2\u7684\u904b\u52d5\u63a7\u5236\u8207\u5f71\u50cf\u8fa8\u8b58\u2026\u2026\u7b49\u5177\u6709\u9ad8\u5ea6\u5c08\u696d\u6027\u7684\u6280\u8853\u6574\u5408\u800c\u6210\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\u6a5f\u5668\u4eba\u7684\u958b\u767c\u5c0d\u65bc\u55ae\u4e00\u7684\u958b\u767c\u8005\u3001\u5be6\u9a57\u5ba4\u6216\u8005\u7814\u7a76\u8005\u90fd\u662f\u7121\u6cd5\u7368\u529b\u5b8c\u6210\u7684\u9805\u76ee\u3002ROS1 \u7684\u51fa\u73fe\u4fbf\u662f\u70ba\u4e86\u8b93\u66f4\u591a\u7684\u958b\u767c\u8005\u5011\u80fd\u5920\u5171\u540c\u4f5c\u696d\u958b\u767c\u6a5f\u5668\u4eba\u7684\u8edf\u9ad4\u529f\u80fd\uff0c\u50cf\u662f\u4e00\u500b\u64c1\u6709\u5148\u9032\u6a5f\u5668\u624b\u81c2\u6280\u8853\u7684\u516c\u53f8\uff0c\u80fd\u5920\u5728 ROS \u7684\u6846\u67b6\u4e0b\u8207\u64c1\u6709\u5f71\u50cf\u8fa8\u8b58\u6280\u8853\u7684\u5be6\u9a57\u5ba4\u5408\u4f5c\uff0c\u5b8c\u6210\u4e00\u500b\u80fd\u5920\u6293\u53d6\u76ee\u6a19\u7269\u7684\u6a5f\u5668\u624b\u81c2\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001ROS 1 \u7684\u7279\u9ede<\/h2>\n\n\n\n<p>ROS 1 \u7684\u6838\u5fc3\u904b\u4f5c\u662f\u5206\u6563\u5f0f\u7db2\u8def\u6a21\u5f0f\uff0c\u4e26\u5728 TCP\/IP \u7684\u901a\u8a0a\u5354\u5b9a\u4e0b\uff0c\u5be6\u73fe\u5404\u500b\u529f\u80fd\u6a21\u7d44\u9593\u9ede\u5c0d\u9ede\u7684\u9b06\u5076\u548c\u9023\u63a5\uff0c\u800c\u4e14\u53ef\u4ee5\u9032\u884c\u591a\u7a2e\u985e\u578b\u7684\u901a\u8a0a\uff0c\u5305\u62ec\u4f7f\u7528\u975e\u540c\u6b65\u901a\u8a0a\u7684\u4e3b\u984c\uff08Topic\uff09\u8207\u540c\u6b65\u901a\u8a0a\u7684\u670d\u52d9\uff08Service\uff09\uff0c\u4ee5\u53ca\u53c3\u6578\u670d\u52d9\u5668\u4e0a\u7684\u8cc7\u6599\u5132\u5b58\u7b49\u3002ROS 1 \u4e3b\u8981\u6709\u4e0b\u5217\u7279\u9ede\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u9ede\u5c0d\u9ede\u7684\u8a2d\u8a08<\/h3>\n\n\n\n<p>\u5728ROS 1 \u4e2d\uff0c\u6bcf\u4e00\u500b\u7a0b\u5f0f\u90fd\u4ee5\u7bc0\u9ede\uff08Node\uff09\u7684\u5f62\u5f0f\u57f7\u884c\uff0c\u53ef\u4ee5\u5206\u6563\u5728\u4e0d\u540c\u7684\u4e3b\u6a5f\u4e2d\u3002\u6bcf\u500b\u7bc0\u9ede\u9593\u7684\u901a\u8a0a\u662f\u901a\u904e\u4e00\u500b\u5177\u6709\u767c\u4f48\uff08Publish\uff09\u8207\u8a02\u95b1\uff08Subscribe\uff09\u529f\u80fd\u7684\u9060\u7aef\u7a0b\u5e8f\u547c\u53eb\uff08Remote Procedure Call\uff09\u50b3\u8f38\u7cfb\u7d71\uff0c\u7531\u767c\u4f48\u8005\u7bc0\u9ede\u50b3\u9001\u81f3\u8a02\u95b1\u8005\u7bc0\u9ede\u3002\u9019\u7a2e\u9ede\u5c0d\u9ede\u7684\u8a2d\u8a08\u65b9\u6cd5\uff0c\u80fd\u5920\u5206\u6563\u4f7f\u7528\u5b9a\u4f4d\u3001\u5c0e\u822a\u3001\u5f71\u50cf\u8fa8\u8b58\u7b49\u529f\u80fd\u5e36\u4f86\u7684\u5373\u6642\u904b\u7b97\u58d3\u529b\uff0c\u56e0\u6b64\u5f88\u9069\u5408\u591a\u500b\u6a5f\u5668\u4eba\u7684\u5354\u529b\u904b\u4f5c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u591a\u7a2e\u7a0b\u5f0f\u8a9e\u8a00\u7684\u652f\u63f4<\/h3>\n\n\n\n<p>\u70ba\u4e86\u652f\u63f4\u66f4\u591a\u61c9\u7528\u7684\u958b\u767c\u8207\u79fb\u690d\uff0cROS1 \u88ab\u8a2d\u8a08\u70ba\u4e00\u7a2e\u4e0d\u4f9d\u8cf4\u67d0\u7a2e\u7279\u5b9a\u8a9e\u8a00\u7684\u6846\u67b6\u3002ROS1 \u4f7f\u7528\u7c21\u6f54\u3001\u4e2d\u7acb\u7684\u5b9a\u7fa9\u8a9e\u8a00\u4f86\u63cf\u8ff0\u529f\u80fd\u6a21\u7d44\u9593\u7684\u901a\u8a0a\u9023\u63a5\uff0c\u56e0\u6b64\u6703\u5728\u7de8\u8b6f\u7684\u904e\u7a0b\u4e2d\u518d\u7522\u751f\u4f7f\u7528\u7684\u7a0b\u5f0f\u8a9e\u8a00\u4e4b\u76ee\u6a19\u6587\u4ef6\u3002\u622a\u81f3 2018 \u5e74\uff0c\u5df2\u53ef\u4f7f\u7528 Python\u3001C++ \u8207 Lisp  \u4f86\u8a2d\u8a08 ROS1 \u7684\u5957\u4ef6\u5305\uff0c\u4e26\u4e14\u5df2\u6709 Java \u8207 Lua \u7684\u5be6\u9a57\u7a0b\u5f0f\u5eab\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u67b6\u69cb\u7c21\u55ae\u3001\u96c6\u6210\u5ea6\u9ad8<\/h3>\n\n\n\n<p>\u5728\u773e\u591a\u7684\u6a5f\u5668\u4eba\u61c9\u7528\u4e2d\uff0c\u91cd\u8907\u7684\u4f7f\u7528\u7a0b\u5f0f\u78bc\u662f\u4e00\u500b\u975e\u5e38\u91cd\u8981\u7684\u554f\u984c\u3002\u5f88\u591a\u7684\u9a45\u52d5\u7a0b\u5f0f\u3001\u61c9\u7528\u6f14\u7b97\u6cd5\u3001\u529f\u80fd\u6a21\u7d44\u82e5\u5728\u8a2d\u8a08\u6642\u6c92\u6709\u57fa\u65bc\u4e00\u500b\u7d71\u4e00\u7684\u6a19\u6e96\uff0c\u5c07\u6703\u5f88\u96e3\u5728\u5176\u4ed6\u7684\u6a5f\u5668\u4eba\u6216\u61c9\u7528\u4e2d\u9032\u884c\u529f\u80fd\u79fb\u690d\u6216\u4e8c\u6b21\u958b\u767c\u3002\u800c ROS 1 \u6846\u67b6\u5177\u6709\u6a21\u7d44\u5316\u7684\u7279\u6027\uff0c\u4f7f\u5f97\u6bcf\u500b\u529f\u80fd\u7bc0\u9ede\u90fd\u53ef\u4ee5\u9032\u884c\u55ae\u7368\u7de8\u8b6f\uff0c\u4e26\u4e14\u4f7f\u7528\u7d71\u4e00\u7684\u901a\u8a0a\u683c\u5f0f\uff0c\u8b93\u6bcf\u500b\u529f\u80fd\u6a21\u7d44\u7684\u79fb\u690d\u8207\u91cd\u8907\u6027\u4f7f\u7528\u8b8a\u5f97\u66f4\u52a0\u65b9\u4fbf\u3002<\/p>\n\n\n\n<p>\u66f4\u4ee4\u4eba\u958b\u5fc3\u7684\u662f\uff0c\u5728 ROS 1 \u7684\u958b\u6e90\u793e\u7fa4\u7576\u4e2d\uff0c\u5df2\u6709\u76f8\u7576\u591a\u7684\u958b\u6e90\u9805\u76ee\u9032\u884c\u4e86\u7a0b\u5f0f\u78bc\u7684\u79fb\u690d\uff0c\u4f8b\u5982 Open Source Computer Vision Library (<a href=\"https:\/\/opencv.org\/\" target=\"_blank\" rel=\"noreferrer noopener\">Open CV<\/a>)\u3001Point Cloud Library (<a href=\"https:\/\/pointclouds.org\/\" target=\"_blank\" rel=\"noreferrer noopener\">PCL<\/a>) \u7b49\uff0c\u8b93\u958b\u767c\u8005\u53ef\u4ee5\u4f7f\u7528\u8c50\u5bcc\u7684\u8cc7\u6e90\u5be6\u73fe\u6a5f\u5668\u4eba\u61c9\u7528\u7684\u5feb\u901f\u958b\u767c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u8c50\u5bcc\u7684\u5de5\u5177\u5957\u4ef6<\/h3>\n\n\n\n<p>\u79fb\u52d5\u5f0f\u6a5f\u5668\u4eba\u7684\u958b\u767c\u5f80\u5f80\u9700\u8981\u4e00\u4e9b\u53ef\u8996\u5316\u5de5\u5177\u6216\u6a21\u64ec\u8edf\u9ad4\u9032\u884c\u958b\u767c\uff0cROS 1 \u4f7f\u7528\u7d44\u4ef6\u5316\u7684\u65b9\u5f0f\u5c07\u9019\u4e9b\u5de5\u5177\u8207\u8edf\u9ad4\u6574\u5408\u5230\u7cfb\u7d71\u4e2d\uff0c\u4e26\u53ef\u4ee5\u505a\u70ba\u4e00\u500b\u7d44\u4ef6\u4f7f\u7528\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5. \u958b\u6e90\u7684\u7a0b\u5f0f\u78bc<\/h3>\n\n\n\n<p>ROS 1 \u9075\u5faa <a href=\"https:\/\/en.wikipedia.org\/wiki\/Berkeley_Software_Distribution\" target=\"_blank\" rel=\"noreferrer noopener\">Berkeley Software Distribution<\/a> (BSD) \u6388\u6b0a\u689d\u6b3e\uff0c\u9019\u7d66\u4e88\u4f7f\u7528\u8005\u6709\u8457\u8f03\u5927\u7684\u81ea\u7531\uff0c\u5141\u8a31\u4f7f\u7528\u8005\u4fee\u6539\u8207\u91cd\u65b0\u767c\u4f48\u5176\u4e2d\u7684\u7a0b\u5f0f\u78bc\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001ROS 1 \u7684\u4fb7\u9650\u6027<\/h2>\n\n\n\n<p>ROS 1 \u6700\u521d\u8a2d\u8a08\u7684\u76ee\u6a19\u6a5f\u5668\u4eba\u662f PR2 \u6a5f\u5668\u4eba\uff0c\u9019\u500b\u6a5f\u5668\u4eba\u642d\u8f09\u7576\u6642\u5019\u6700\u5148\u9032\u7684\u79fb\u52d5\u904b\u7b97\u5e73\u53f0\u4e26\u4e14\u5177\u6709\u7d55\u4f73\u7684\u7db2\u8def\u6027\u80fd\uff0c\u56e0\u6b64\u4e26\u4e0d\u9700\u8981\u8003\u616e\u5373\u6642\u8a08\u7b97\u7684\u554f\u984c\uff0c\u4e3b\u8981\u61c9\u7528\u65bc\u7814\u7a76\u9818\u57df\u3002<\/p>\n\n\n\n<p>\u5982\u4eca ROS 1 \u7684\u61c9\u7528\u9818\u57df\u8d8a\u4f86\u8d8a\u5ee3\u6cdb\uff0c\u5df2\u9010\u6f38\u5f9e\u7814\u7a76\u9818\u57df\u8d70\u5411\u4eba\u5011\u65e5\u5e38\u7684\u751f\u6d3b\uff0c\u4f8b\u5982\uff1a\u8f2a\u578b\u6a5f\u5668\u4eba\u3001\u4eba\u578b\u6a5f\u5668\u4eba\u3001\u5de5\u696d\u6a5f\u5668\u624b\u81c2\u3001\u81ea\u52d5\u99d5\u99db\u8eca\u3001\u7121\u4eba\u6a5f\u7b49\u3002\u4e5f\u56e0\u6b64 ROS 1 \u5728\u61c9\u7528\u9818\u57df\u4e0a\uff0c\u9010\u6f38\u6709\u4ee5\u4e0b\u4e94\u500b\u554f\u984c\u7684\u7522\u751f\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u591a\u6a5f\u5668\u4eba(multi-robot) \u7cfb\u7d71\u7684\u958b\u767c\u8207\u61c9\u7528<\/h3>\n\n\n\n<p>\u591a\u6a5f\u5668\u4eba\u7cfb\u7d71\u662f\u6a5f\u5668\u4eba\u9818\u57df\u4e2d\u7684\u4e00\u500b\u91cd\u9ede\u7814\u7a76\u9805\u76ee\uff0c\u9019\u53ef\u4ee5\u89e3\u6c7a\u55ae\u4e00\u6a5f\u5668\u4eba\u7cfb\u7d71\u7684\u6027\u80fd\u4e0d\u8db3\u8207\u7121\u6cd5\u61c9\u7528\u7b49\u554f\u984c\uff0c\u4e5f\u53ef\u4ee5\u907f\u514d\u56e0\u70ba\u6a5f\u5668\u4eba\u6545\u969c\u6642\u5c0e\u81f4\u6574\u9ad4\u4efb\u52d9\u7d42\u6b62\u7684\u60c5\u5f62\u767c\u751f\u3002\u7136\u800c\u5728 ROS 1 \u4e2d\uff0c\u4e26\u6c92\u6709\u5efa\u7acb\u591a\u6a5f\u5668\u4eba\u7cfb\u7d71\u7684\u6a19\u6e96\u65b9\u6cd5\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u7cfb\u7d71\u5e73\u53f0\u7684\u9ad8\u5ea6\u4f9d\u8cf4\u6027<\/h3>\n\n\n\n<p>ROS 1 \u662f\u57fa\u65bc <a href=\"https:\/\/zh.wikipedia.org\/wiki\/Linux\" target=\"_blank\" rel=\"noreferrer noopener\">Linux<\/a> \u7cfb\u7d71\uff08\u76f8\u9069\u6027\u8f03\u9ad8\u7684\u70ba <a href=\"https:\/\/ubuntu.com\/download\" target=\"_blank\" rel=\"noreferrer noopener\">Ubuntu<\/a> \u7cfb\u7d71\uff09\u6240\u8a2d\u8a08\u7684\u6a5f\u5668\u4eba\u7cfb\u7d71\u6846\u67b6\u3002\u9019\u5c0d\u5176\u4ed6\u7684\u4f5c\u696d\u7cfb\u7d71\uff0c\u50cf\u662f Windows\u3001macOS\u3001RTOS \u7b49\u6709\u8457\u8f03\u9ad8\u7684\u4fb7\u9650\u6027\uff0c\u4f7f\u5f97 ROS 1 \u5728\u9019\u4e9b\u7cfb\u7d71\u4e0a\u6703\u6709\u90e8\u5206\u529f\u80fd\u7121\u6cd5\u61c9\u7528\u6216\u529f\u80fd\u6709\u9650\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u5373\u6642\u6027<\/h3>\n\n\n\n<p>\u5f88\u591a\u61c9\u7528\u5834\u5408\u4e2d\u7684\u6a5f\u5668\u4eba\uff0c\u5c0d\u65bc\u5373\u6642\u6027\u7684\u8981\u6c42\u8f03\u9ad8\uff0c\u5c24\u5176\u662f\u5728\u5de5\u696d\u9818\u57df\uff0c\u7cfb\u7d71\u9700\u8981\u505a\u5230\u786c\u5373\u6642\u7684\u6027\u80fd\u8981\u6c42\uff0c\u4f46\u662f ROS 1 \u7f3a\u4e4f\u5373\u6642\u6027\u65b9\u9762\u7684\u8a2d\u8a08\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u7db2\u8def\u9023\u63a5<\/h3>\n\n\n\n<p>ROS 1 \u7684\u5206\u6563\u5f0f\u8a2d\u8a08\u9700\u8981\u6709\u826f\u597d\u7684\u7db2\u8def\u74b0\u5883\u624d\u80fd\u5920\u4fdd\u8b49\u8cc7\u6599\u50b3\u8f38\u7684\u5b8c\u6574\u6027\uff0c\u4e26\u4e14\u7db2\u8def\u4e0d\u5177\u5099\u6578\u64da\u52a0\u5bc6\u3001\u5b89\u5168\u9632\u8b77\u7b49\u529f\u80fd\uff0c\u8b93\u540c\u4e00\u7db2\u8def\u4e2d\u7684\u4efb\u610f\u4e3b\u6a5f\u7686\u80fd\u5920\u53d6\u5f97\u7bc0\u9ede\u767c\u4f48\u6216\u63a5\u6536\u7684\u8cc7\u6599\u6578\u64da\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5. \u7522\u54c1\u5316<\/h3>\n\n\n\n<p>ROS 1 \u900f\u904e\u4e3b\u7bc0\u9ede\uff08Master Node\uff09\u7ba1\u7406\u5206\u6563\u5728\u5404\u500b\u4e3b\u6a5f\u4e2d\u7684\u767c\u4f48\u8005\u6216\u8a02\u95b1\u8005\u7bc0\u9ede\uff0c\u56e0\u6b64\u82e5\u662f\u4e3b\u7bc0\u9ede\u767c\u751f\u554f\u984c\uff0c\u6574\u500b\u7cfb\u7d71\u5c07\u6703\u7121\u6cd5\u904b\u4f5c\uff0c\u9019\u6703\u5c0e\u81f4\u5f88\u591a\u6a5f\u5668\u4eba\u7684\u7814\u7a76\u958b\u767c\u5230\u6d88\u8cbb\u6027\u7522\u54c1\u7684\u904e\u6e21\u975e\u5e38\u56f0\u96e3\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u5c0f\u7d50<\/h2>\n\n\n\n<p>\u9452\u65bc\u4e0a\u8ff0\u7684\u554f\u984c\uff0c\u4f7f\u5f97 ROS 1 \u56e0\u70ba\u6700\u521d\u8a2d\u8a08\u7684\u4fb7\u9650\u6027\uff0c\u5728\u5f80\u5f8c\u7684\u61c9\u7528\u767c\u5c55\u4e0a\u6703\u8d8a\u4f86\u8d8a\u96e3\u4ee5\u4f7f\u7528\u3002\u56e0\u6b64\u5728 <a href=\"https:\/\/roscon.ros.org\/2014\/program\/\" target=\"_blank\" rel=\"noreferrer noopener\">ROSCon 2014<\/a> \u4e0a\uff0c\u65b0\u4e00\u4ee3 ROS \u7684\u8a2d\u8a08\u67b6\u69cb\u6b63\u5f0f\u516c\u5e03\uff0c\u4e26\u4e14\u57282015 \u5e74 8 \u6708\u767c\u4f48 ROS 2 \u7684 alpha \u7248\u672c\u3002<\/p>\n\n\n\n<p>\u300c<a href=\"https:\/\/www.circuspi.com\/?s=ROS+%E6%95%99%E5%AD%B8%E7%B3%BB%E5%88%97\" target=\"_blank\" rel=\"noreferrer noopener\"><strong>ROS \u6559\u5b78\u7cfb\u5217<\/strong><\/a>\u300d\u4e0b\u4e00\u7bc7\u6587\u7ae0\u5c31\u8981\u5e36\u5927\u5bb6\u8a8d\u8b58 ROS 2\uff08Robot Operating System 2\uff09\u7684\u8a73\u7d30\u5167\u5bb9\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5982\u679c\u4f60\u4e5f\u60f3\u4e86\u89e3 ROS(Robot Operating System) \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u5230\u5e95\u662f\u4ec0\u9ebc?\u90a3\u9ebc\u5c31\u8d95\u5feb\u8ddf\u6211\u5011\u4e00\u8d77\u5b78\u7fd2\u5427\uff01CIRCUS Pi \u6709\u6700\u624e\u5be6\u3001\u6700\u597d\u7406\u89e3\u7684 ROS \u6559\u5b78\uff0c\u8b93\u5b78\u7fd2\u8005\u518d\u8e0f\u5165 ROS \u7684\u4e16\u754c\u4e0d\u518d\u5b64\u7acb\u7121\u63f4\u3002<\/p>\n","protected":false},"author":1,"featured_media":17627,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[34,238],"tags":[],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17451"}],"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=17451"}],"version-history":[{"count":8,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17451\/revisions"}],"predecessor-version":[{"id":17652,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17451\/revisions\/17652"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/17627"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=17451"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=17451"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=17451"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=17451"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}