{"id":17537,"date":"2022-09-28T17:00:00","date_gmt":"2022-09-28T09:00:00","guid":{"rendered":"https:\/\/www.circuspi.com\/?p=17537"},"modified":"2022-11-28T10:59:41","modified_gmt":"2022-11-28T02:59:41","slug":"installation-ros2","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2022\/09\/28\/installation-ros2\/","title":{"rendered":"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2\uff1f"},"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\/1000x526-4.jpg\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2\uff1f\" class=\"wp-image-17681\"\/><\/figure>\n\n\n\n<p>\u5728<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\"> ROS \u6559\u5b78\u7cfb\u5217(\u4e00)\uff5e(\u4e09)<\/a>\u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u5206\u5225\u8a8d\u8b58\u4e86 ROS 1 \u8207 ROS 2\uff0c\u4e26\u4e14\u4e5f\u4e86\u89e3\u5169\u8005\u7684\u5dee\u7570\uff0c\u63a5\u4e0b\u4f86\u5c07\u958b\u59cb\u5e36\u9818\u5927\u5bb6\u9032\u884c ROS 2 \u7684\u958b\u767c\u74b0\u5883\u914d\u7f6e\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\u3001\u7248\u672c\u7684\u9078\u64c7<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1. ROS 2 \u7248\u672c\u7684\u9078\u64c7<\/h3>\n\n\n\n<p>ROS 2 \u7248\u672c\u7684\u6f14\u9032\uff0c\u53ef\u4ee5\u53c3\u8003 <a href=\"https:\/\/docs.ros.org\/en\/foxy\/Releases.html\" target=\"_blank\" rel=\"noreferrer noopener\">ROS 2 Foxy<\/a> \u7684\u8aaa\u660e\u6587\u4ef6\uff0c\u6216\u53c3\u8003\u4e0b\u5716\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/Yt_aysmzCWxPl2DvZwqm6aafcxEY9pt2zWksr9YbTkUrxx9-cMbNhgFw2UGcJixdkJK30vznJAS2a11xZy8NHwOTtPgoqYfCLneMv8bmfhDMrvhNtrfpaCSvGRmiZ1eRuf88kLOOwonhPFdtiK2nyFVDnvCGCXN2yH2hDbX8PPkDtTyj3xiJfs10GA\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\" width=\"602\" height=\"659\"\/><figcaption>\u5716\u7247\u4f86\u6e90\uff1a<a href=\"https:\/\/docs.ros.org\/en\/foxy\/Releases.html%EF%BC%89\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/docs.ros.org\/en\/foxy\/Releases<\/a><a href=\"https:\/\/docs.ros.org\/en\/foxy\/Releases.html\" target=\"_blank\" rel=\"noreferrer noopener\">.<\/a><a href=\"https:\/\/docs.ros.org\/en\/foxy\/Releases.html%EF%BC%89\" target=\"_blank\" rel=\"noreferrer noopener\">html<\/a><\/figcaption><\/figure><\/div>\n\n\n\n<p>\u70ba\u4e86\u4fdd\u6301\u4f7f\u7528\u4e0a\u7684\u7a69\u5b9a\u6027\uff0c\u9577\u671f\u652f\u63f4\u7248\u672c Foxy \u662f\u4e00\u500b\u5f88\u68d2\u7684\u9078\u64c7\u3002\u7576\u7136\uff0c\u82e5\u662f\u60f3\u9ad4\u9a57 ROS 2 \u7684\u6700\u65b0\u529f\u80fd\uff0c\u90a3\u9ebc\u9078\u64c7\u6700\u65b0\u7248\u672c Galactic \u6703\u66f4\u597d\u4e00\u4e9b\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u9810\u8a08\u5728 2022 \u5e74 5 \u6708 23 \u65e5\u767c\u4f48\u7684\u7248\u672c Humble \u5c07\u6703\u662f\u64c1\u6709 5 \u5e74\u9577\u671f\u652f\u63f4\u7684\u7248\u672c\u3002<\/p>\n\n\n\n<p>\u203b \u672c\u6559\u5b78\u5c07\u4f7f\u7528 ROS 2 Foxy \u4f5c\u70ba\u5b78\u7fd2 ROS 2 \u7684\u7248\u672c<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u4f5c\u696d\u7cfb\u7d71\u7684\u9078\u64c7<\/h3>\n\n\n\n<p>\u672c\u6559\u5b78\u7684\u4f5c\u696d\u7cfb\u7d71\u5c07\u4f7f\u7528 Ubuntu 20.04 LTS\uff0c\u5b83\u5c07\u6703\u6301\u7e8c\u66f4\u65b0\u81f3 2025 \u5e74 4 \u6708\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. DDS \u7684\u9078\u64c7<\/h3>\n\n\n\n<p>\u53ef\u5f9e ROS 2 Foxy \u5b98\u65b9\u6587\u4ef6\u8aaa\u660e\u4e2d\uff0c\u67e5\u8a62\u652f\u63f4\u7684 DDS \u670d\u52d9\uff0c\u5982\u4e0b\u8868\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/7B3wxOOSBuvTshn_vUMXT2e5tKWtkZ1FjdP0-SayyZ6GErUC7GpA886WIOn34lnBBYzckEZKxfsPPGKNn5-9MLg_8my-zjZJPV3RcHYavezvsqZMM9JGKUiKWPFJwiVdAurjb3l6djeLDiNc_hr0R4nYBi3egeZPhP0cT4ojnJA8CuQWw9tUO1dPXQ\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\" width=\"817\" height=\"380\"\/><figcaption>\u8cc7\u6599\u4f86\u6e90: <a href=\"https:\/\/docs.ros.org\/en\/foxy\/Concepts\/About-Different-Middleware-Vendors.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/docs.ros.org\/en\/foxy\/Concepts\/About-Different-Middleware-Vendors.htm<\/a><\/figcaption><\/figure><\/div>\n\n\n\n<p>\u7531\u4e0a\u8868\u53ef\u4ee5\u770b\u5230\uff0c\u76ee\u524d ROS 2 \u7684\u4e2d\u4ecb\u8edf\u9ad4\uff08ROS Middleware\uff09\u53ef\u652f\u63f4\u7684\u9805\u76ee\u6709\u4e09\u500b\uff0c\u5206\u5225\u662f eProsima Fast DDS\u3001Eclipse Cyclone DDS\u3001RTI Connext\u3002<\/p>\n\n\n\n<p>\u672c\u6559\u5b78\u5c07\u9078\u64c7\u4f7f\u7528 Eclipse Cyclone DDS \u4f5c\u70ba\u4f7f\u7528 ROS 2 Foxy \u7684\u4e2d\u4ecb\u8edf\u9ad4\uff0c\u5b83\u5177\u6709\u4e0b\u5217\u7279\u9ede\uff1a<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">(1) \u76ee\u6a19\u7ba1\u7406\u7d44\u7e54\uff08<a href=\"https:\/\/www.omg.org\/\" target=\"_blank\" rel=\"noreferrer noopener\">Object Management Group<\/a>, OMG\uff09\u7684\u65b0\u4e00\u4ee3\u6a19\u6e96<\/h4>\n\n\n\n<p><a href=\"https:\/\/www.omg.org\/\" target=\"_blank\" rel=\"noreferrer noopener\">OMG<\/a> \u662f\u4e00\u500b\u570b\u969b\u5354\u6703\uff0c\u958b\u59cb\u7684\u76ee\u7684\u662f\u70ba\u5206\u5e03\u5f0f\u7269\u4ef6\u5c0e\u5411\u7cfb\u7d71\u5efa\u7acb\u6a19\u6e96\uff0c\u76ee\u524d\u5247\u81f4\u529b\u65bc\u5efa\u7acb\u5c0d\u7a0b\u5e8f\u3001\u7cfb\u7d71\u548c\u696d\u52d9\u6d41\u7a0b\u7684\u5efa\u6a21\u6a19\u6e96\uff0c\u4ee5\u53ca\u57fa\u65bc\u6a21\u578b\u7684\u6a19\u6e96\u3002<\/p>\n\n\n\n<p>Eclipse Cyclone DDS \u5df2\u4f5c\u70ba OMG \u7684\u65b0\u4e00\u4ee3\u6a19\u6e96\uff0c\u53ef\u4ee5\u9810\u671f\u672a\u4f86\u5c07\u6703\u6709\u66f4\u591a\u7684\u7522\u54c1\u6216\u6280\u8853\u570d\u7e5e\u8457 Eclipse Cyclone DDS \u9032\u884c\u958b\u767c\uff0c\u5728\u5f80\u5f8c\u7684 ROS 2 \u4e0a\u4e5f\u6703\u6709\u66f4\u591a\u76f8\u95dc\u7684\u6280\u8853\u652f\u63f4\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">(2) \u53f0\u7063\u5ee0\u5546\u51cc\u83ef\u79d1\u6280\u7684\u63a8\u52d5\u8207\u652f\u63f4<\/h4>\n\n\n\n<p>\u51cc\u83ef\u79d1\u6280\u80a1\u4efd\u6709\u9650\u516c\u53f8\uff08<a href=\"https:\/\/www.adlinktech.com\/tw\/Index\" target=\"_blank\" rel=\"noreferrer noopener\">ADLINK<\/a>\uff09\uff0c\u662f\u4e00\u5bb6\u8a2d\u8a08\u548c\u88fd\u9020\u7528\u65bc\u5d4c\u5165\u5f0f\u8a08\u7b97\uff0c\u6e2c\u8a66\u548c\u6e2c\u91cf\u4ee5\u53ca\u81ea\u52d5\u5316\u61c9\u7528\u7522\u54c1\u7684\u516c\u53f8\uff0c\u5176\u7522\u54c1\u7dda\u5305\u542b\u6a21\u7d44\u96fb\u8166\u3001\u5de5\u696d\u4e3b\u677f\u3001\u8cc7\u6599\u63a1\u96c6\u6a21\u7d44\u548c\u5b8c\u6574\u7684\u7cfb\u7d71\u3002\u9664\u4e86\u4f4d\u65bc\u53f0\u7063\u7684\u7e3d\u90e8\u5916\uff0c\u5728\u5317\u4eac\u3001\u66fc\u6d77\u59c6\u3001\u5df4\u9ece\u3001\u8056\u4f55\u585e\u3001\u9996\u723e\u3001\u4e0a\u6d77\u3001\u6df1\u5733\u3001\u65b0\u52a0\u5761\u548c\u6771\u4eac\u5747\u8a2d\u6709\u8fa6\u4e8b\u8655\u3002\u76ee\u524d\u8207 Eclipse Foundation IoT \u7d44\u7e54\u3001OpenADx \u5de5\u4f5c\u574a\u53ca ROS 2 \u6280\u8853\u6307\u5c0e\u59d4\u54e1\u6703\u5408\u4f5c\uff0c\u5408\u4f5c\u63a8\u52d5 Eclipse Cyclone DDS \u6210\u70ba ROS 2 \u7684\u4e2d\u4ecb\u8edf\u9ad4\uff0c\u96a8\u8457 ROS 2 \u7248\u672c Foxy Fitzroy \u767c\u4f48\uff0c\u5c07\u6703\u4f7f\u6a5f\u5668\u4eba\u958b\u767c\u8b8a\u5f97\u66f4\u7c21\u55ae\u3001\u5feb\u901f\u3001\u5b89\u5168\u53ca\u53ef\u9760\u3002<\/p>\n\n\n\n<p>\u203b \u66f4\u591a\u95dc\u65bc Eclipse Cyclone DDS \u7684\u4f7f\u7528\u56de\u5831\u53ef\u53c3\u8003\uff1a<a href=\"https:\/\/osrf.github.io\/TSC-RMW-Reports\/humble\/eclipse-cyclonedds-report.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/osrf.github.io\/TSC-RMW-Reports\/humble\/eclipse-cyclonedds-report.html<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u5b89\u88dd\u6b65\u9a5f<\/h2>\n\n\n\n<p>\u8acb\u4f9d\u7167\u4e0b\u5217\u7684\u64cd\u4f5c\u6b65\u9a5f\u9032\u884c\u5b89\u88dd\u914d\u7f6e ROS 2 \u7684\u64cd\u4f5c\u74b0\u5883\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u78ba\u4fdd\u4f7f\u7528\u4e2d\u7684\u4f5c\u696d\u7cfb\u7d71\u70ba Ubuntu 20.04 LTS<\/h3>\n\n\n\n<p>\u82e5\u76ee\u524d\u7684\u4e3b\u6a5f\u4f7f\u7528\u7684\u662f Windows \u7cfb\u7d71\uff0c\u70ba\u4e86\u4fdd\u8b77\u786c\u789f\u8cc7\u6599\uff0c\u53ef\u4ee5\u4f7f\u7528\u865b\u64ec\u6a5f\u5668\u4f86\u5b89\u88dd Ubuntu 20.04 LTS\u3002\u4f7f\u7528 Virtualbox \u4f5c\u70ba\u7b2c\u4e00\u500b\u63a5\u89f8\u7684\u865b\u64ec\u6a5f\u5668\u8edf\u9ad4\u662f\u4e00\u500b\u5f88\u597d\u7684\u9078\u64c7\uff0c\u5b83\u64c1\u6709\u5c0d\u521d\u5b78\u8005\u4f86\u8aaa\u8f03\u70ba\u53cb\u5584\u7684\u5716\u5f62\u5316\u4ecb\u9762\uff0c\u8acb\u5148\u4e0b\u8f09 <a href=\"https:\/\/www.virtualbox.org\/wiki\/Downloads\" target=\"_blank\" rel=\"noreferrer noopener\">Virtualbox \u8edf\u9ad4<\/a>\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u5b89\u88dd\u5fc5\u8981\u5957\u4ef6<\/h3>\n\n\n\n<p>\u6211\u5011\u5c07\u900f\u904e\u7248\u672c\u63a7\u5236\u5668 git\uff0c\u5f9e ADLINK \u7684\u958b\u6e90\u7a0b\u5f0f\u78bc\u4e2d\uff0c\u53d6\u5f97\u300cros_menu\u300d\u7684\u5b8c\u6574\u7a0b\u5f0f\u78bc\uff0c\u4ee5\u4fbf\u9032\u884c\u5b89\u88dd ROS 2\u3002\u56e0\u6b64\u8acb\u5148\u958b\u555f Ubuntu 20.04 LTS \u4e2d\u7684\u7d42\u7aef\u6a5f\uff08\u5feb\u6377\u9375\u70ba\u3010ctrl\u3011+\u3010alt\u3011+\u3010T\u3011\uff09\uff0c\u63a5\u8457\u8f38\u5165\u6307\u4ee4\uff1a<\/p>\n\n\n\n<p><span style=\"background-color:#c8c8c8\" class=\"tadv-background-color\">$ sudo apt install git<\/span><\/p>\n\n\n\n<p>\u7531\u65bc\u6211\u5011\u4f7f\u7528\u4e86 sudo \u6307\u4ee4\uff0c\u56e0\u6b64\u8a18\u5f97\u8981\u8f38\u5165\u8a72\u4f7f\u7528\u8005\u5e33\u6236\u7684\u5bc6\u78bc\u3002\u5b89\u88dd\u5b8c\u6210\u5f8c\u53ef\u5728\u7d42\u7aef\u6a5f\u8996\u7a97\u4e2d\u67e5\u770b\u76f8\u95dc\u8cc7\u8a0a\uff0c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/TlbzefB1Vprtze1X-FtUPHVdaVLEjiLm8fo7Y5nydFO0pZHzDt_F9vjDXM_toZw8gBk10WWFPQsTlWOFssE5oruSwsRcYR134De7AHckL5ALVOwtwM8UVst7IqmushWGBAQGo17wLxIFNybQNuIqidxAM-UwWlVeBRfTY30Qcx9Yjj1TYIy-wqyMLg\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u53d6\u5f97\u958b\u6e90\u7a0b\u5f0f\u78bc\u300cros_menu\u300d<\/h3>\n\n\n\n<p>ADLINK \u5df2\u5c07\u300cros_menu\u300d\u7684\u5b8c\u6574\u7a0b\u5f0f\u78bc\u516c\u958b\u5728 github \u7db2\u7ad9\u4e0a\uff0c\u53ef\u53c3\u8003\uff1a<a href=\"https:\/\/github.com\/Adlink-ROS\/ros_menu\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/Adlink-ROS\/ros_menu<\/a><\/p>\n\n\n\n<p>\u6211\u5011\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528 git \u9032\u884c\u4e0b\u8f09\u300cros_menu\u300d\u7684\u5b8c\u6574\u7a0b\u5f0f\u78bc\uff0c\u8acb\u5728\u7d42\u7aef\u6a5f\u7684\u76ee\u9304\u4e2d\u8f38\u5165\u6307\u4ee4\uff1a<\/p>\n\n\n\n<p><span style=\"background-color:#c8c8c8\" class=\"tadv-background-color\">$ git clone https:\/\/github.com\/Adlink-ROS\/ros_menu<\/span><\/p>\n\n\n\n<p>\u64cd\u4f5c\u7d50\u679c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/4p_H5bC4ApJiHuQzWiNHw0FNy4pV2w64Z6QHHZ8cy2LID8nCItlMGLQy7ElYcdz0FzgCJ9MsA9l-tXL8DMlTz7LTrVp8Z6e33VO5SXH8TFMT92y10AqH4f5PS0nKZ4Uo6USa18yy2Zajq0yh6zt-plnSMqTeNKhnhxwORotdYBUznOZ-c0qC3kLemg\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u4f7f\u7528\u300cros_menu\u300d\u5b89\u88dd ROS 1 \u8207 ROS 2<\/h3>\n\n\n\n<p>\u300cros_menu\u300d\u5df2\u64c1\u6709\u81ea\u52d5\u5b89\u88dd ROS 1 \u8207 ROS 2 \u7684\u8173\u672c\u6a94\u6848\u53ef\u4ee5\u4f7f\u7528\uff0c\u56e0\u6b64\u8acb\u76f4\u63a5\u8f38\u5165\u6307\u4ee4\uff1a<\/p>\n\n\n\n<p><span style=\"background-color:#c8c8c8\" class=\"tadv-background-color\">$ cd ~\/ros_menu &amp;&amp; source install.sh<\/span><\/p>\n\n\n\n<p>\u8f38\u5165\u5b8c\u7562\u5f8c\uff0c\u5c07\u6703\u51fa\u73fe\u63d0\u793a\u6587\u5b57\uff0c\u4e26\u8a62\u554f\u662f\u5426\u8981\u81ea\u52d5\u5b89\u88dd ROS\uff0c\u8f38\u5165\u300cy\u300d\u5f8c\u8173\u672c\u6a94\u6848\u4fbf\u6703\u958b\u59cb\u81ea\u52d5\u5b89\u88dd ROS 1 \u8207 ROS 2\uff0c\u4e26\u4e14\u5225\u5fd8\u8a18\u8f38\u5165\u8a72\u4f7f\u7528\u8005\u5e33\u6236\u7684\u5bc6\u78bc\uff0c\u64cd\u4f5c\u7d50\u679c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"731\" height=\"367\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/09\/image-9.png\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\" class=\"wp-image-17538\"\/><\/figure><\/div>\n\n\n\n<p>ROS 1 \u8207 ROS 2 \u5b89\u88dd\u5b8c\u7562\u5f8c\uff0c\u8173\u672c\u6a94\u6848\u9084\u6703\u8a62\u554f\u662f\u5426\u9700\u8981\u5b89\u88dd OpenVINO\uff0c\u9019\u662f\u4e00\u500b\u5354\u52a9\u5feb\u901f\u958b\u767c\u96fb\u8166\u8996\u89ba\u61c9\u7528\u7684\u529f\u80fd\u5305\uff0c\u672c\u6559\u5b78\u5c07\u4e0d\u6703\u4f7f\u7528\u5230\uff0c\u4f46\u4ecd\u5efa\u8b70\u6309\u4e0b\u300cy\u300d\u9375\u5148\u884c\u5b89\u88dd\uff0c\u4ee5\u4fbf\u672a\u4f86\u7684\u5b78\u7fd2\u8207\u4f7f\u7528\uff0c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"735\" height=\"541\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/09\/image-10.png\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\" class=\"wp-image-17539\"\/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u914d\u7f6e ROS 1 \u8207 ROS 2 \u5171\u7528\u7684\u64cd\u4f5c\u74b0\u5883<\/h2>\n\n\n\n<p>\u900f\u904e\u300cros_menu\u300d\u5b89\u88dd\u597d ROS 1 \u8207 ROS 2 \u7cfb\u7d71\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u958b\u59cb\u914d\u7f6e\u64cd\u4f5c\u74b0\u5883\u3002<\/p>\n\n\n\n<p>ADLINK \u5df2\u5c07\u914d\u7f6e\u7684\u6a94\u6848\u8207\u65b9\u6cd5\u984d\u5916\u653e\u7f6e\u5728\u300cconfig.yaml\u300d\u8a2d\u5b9a\u6a94\u6848\u4e2d\uff0c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/xW2zMact1E_wrYD_SnSRi19NSfmHHBZ7-qri5JeQiubi-Ejd3H7GDUE_D8Vthe8x-w8wwcSLOVZPwJVqQHxoX_stIRJZUS6r5f7MKKZsEdKdwZwp-0FIRy9TMMF5SA6HbNdrpLdnkH0Sn1XPFM1H2saB8WYfmDB1HOBkArl_g9p7SZJ-a-Qm3qHqQg\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\"\/><\/figure><\/div>\n\n\n\n<p>\u4f7f\u7528\u8005\u4e0d\u5fc5\u518d\u5192\u8457\u98a8\u96aa\u81ea\u884c\u4fee\u6539\u7d42\u7aef\u6a5f\u7684\u74b0\u5883\u8a2d\u5b9a\u6a94\u3002\u300cconfig.yaml\u300d\u88ab\u653e\u7f6e\u5728\u300cros_menu\u300d\u7684\u76ee\u9304\u7576\u4e2d\uff0c\u958b\u555f\u300cconfig.yaml\u300d\u5f8c\uff0c\u5c31\u53ef\u4ee5\u67e5\u770b\u914d\u7f6e\u60c5\u5f62\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote\"><p><strong>\u6ce8\u610f<\/strong><\/p><cite>\u6b64\u8655\u662f\u4ee5\u6587\u5b57\u7de8\u8f2f\u5668 gedit \u958b\u555f\u6a94\u6848\uff0c\u82e5\u9810\u8a2d\u6587\u5b57\u7de8\u8f2f\u5668\u4e0d\u662f gedit\uff0c\u5c07\u7121\u6cd5\u4ee5\u5982\u4e0b\u5716\u7684\u540c\u6a23\u65b9\u6cd5\u67e5\u770b\u300cconfig.yaml\u300d\u6a94\u6848\u3002<\/cite><\/blockquote>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/YYJV7i74Z4kKt7dpkeLpNpU7Up4PVToUtxuVh0ZMzYs8ieQSylBTszA4mxSfjovrxJhCKEmCFivYISat1hNfEnrSW_Xjgd5dV1dhzAh6xL4gjG30jbC89lQkxNFRPTgi-CPI5pSo5kvU1AjfCDLsUV5TRZflN8iQ9-RqCGXeHgbNNsBD1YNtMVrtoA\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\" width=\"703\" height=\"665\"\/><\/figure><\/div>\n\n\n\n<p>YAML \u6587\u4ef6\u6a94\u6848\uff0c\u662f\u4e00\u500b\u53ef\u8b80\u6027\u9ad8\uff0c\u7528\u4f86\u8868\u9054\u8cc7\u6599\u5e8f\u5217\u5316\u7684\u683c\u5f0f\uff0c\u9019\u4e5f\u662f\u76ee\u524d\u5728 ROS 1 \u8207 ROS 2 \u4e2d\u6700\u5e38\u4f7f\u7528\u7684\u6587\u4ef6\u6a94\u6848\uff0c\u4e3b\u8981\u76ee\u7684\u662f\u7528\u4f86\u5132\u5b58\u5c08\u6848\u4e2d\u7684\u5404\u7a2e\u53c3\u6578\u8207\u914d\u7f6e\u3002\u73fe\u5728\u5c31\u53ef\u4ee5\u5f9e\u300cconfig.yaml\u300d\u6587\u4ef6\u6a94\u6848\uff0c\u4f86\u5b78\u7fd2\u8a72\u5982\u4f55\u4f7f\u7528 YAML\u3002<\/p>\n\n\n\n<p>YAML \u4f7f\u7528\u7a7a\u767d\u5b57\u5143\u8207\u5206\u884c\u4f86\u5206\u9694\u8cc7\u6599\uff0c\u8cc7\u6599\u7d50\u69cb\u53ef\u4ee5\u7528\u985e\u4f3c\u5927\u7db1\u7684\u7e2e\u6392\u65b9\u5f0f\u5448\u73fe\uff0c\u5728\u7e2e\u6392\u4e2d\uff0c\u7a7a\u767d\u5b57\u5143\u7684\u6578\u76ee\u4e26\u4e0d\u662f\u975e\u5e38\u91cd\u8981\uff0c\u53ea\u8981\u76f8\u540c\u968e\u5c64\u7684\u5143\u7d20\u5de6\u5074\u5c0d\u9f4a\u5c31\u53ef\u4ee5\u4e86\uff08<strong>\u4e0d\u904e\u4e0d\u80fd\u4f7f\u7528 TAB \u5b57\u5143<\/strong>\uff09\u3002<\/p>\n\n\n\n<p>\u5f9e\u4e0a\u5716\u53ef\u4ee5\u770b\u51fa\uff0c\u300cconfig.yaml\u300d\u6a94\u6848\u7684\u9802\u5c64\u7531\u5169\u500b\u9375\u503c\u7d44\u6210\uff1a\u300cConfig\u300d\u8207\u300cMenu\u300d\u3002\u5728\u9375\u503c\u5f8c\u9762\u60f3\u8981\u8ce6\u4e88\u8cc7\u6599\uff0c\u9700\u8981\u52a0\u4e0a\u7b26\u865f\u300c:\u300d\u8207\u300c \u300d\uff08\u7a7a\u767d\u5b57\u5143\uff09\uff0c\u624d\u80fd\u5920\u63a5\u7e8c\u8f38\u5165\u60f3\u8981\u8ce6\u4e88\u7684\u8cc7\u6599\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u82e5\u662f\u8cc7\u6599\u60f3\u8981\u8ce6\u4e88\u7684\u662f\u300c\u6e05\u55ae\uff08\u9663\u5217\uff09\u300d\u7684\u7d50\u69cb\uff0c\u5247\u53ef\u4ee5\u4f7f\u7528\u7b26\u865f\u300c-\u300d\u8207\u300c \u300d\uff08\u7a7a\u767d\u9375\uff09\u3002<\/p>\n\n\n\n<p>\u6700\u5f8c\u82e5\u662f\u60f3\u8981\u70ba\u8cc7\u6599\u5167\u5bb9\u9032\u884c\u8a3b\u89e3\uff0c\u4f7f\u7528\u7b26\u865f\u300c#\u300d\u5c31\u53ef\u4ee5\u4e86\uff0c\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u82e5\u662f\u60f3\u8981\u5728\u8cc7\u6599\u7684\u540c\u4e00\u884c\u5167\u9032\u884c\u8a3b\u89e3\uff0c\u8acb\u8a18\u5f97\u5728\u8cc7\u6599\u5167\u5bb9\u7684\u6700\u5f8c\u4e00\u500b\u5b57\u5143\u52a0\u4e0a\u300c \u300d\uff08\u7a7a\u767d\u9375\uff09\uff0c\u5426\u5247 YAML \u6703\u8a8d\u70ba\u7b26\u865f\u300c#\u300d\u4e5f\u662f\u8cc7\u6599\u5167\u5bb9\u7684\u4e00\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u6839\u64da\u4e0a\u8ff0\u7684\u4ecb\u7d39\uff0c\u5c31\u80fd\u89e3\u8b80 \u300cconfig.yaml\u300d\u7684\u5167\u5bb9\uff0c\u63a5\u8457\u6211\u5011\u5c07\u64f7\u53d6\u4e00\u5c0f\u6bb5\u5167\u5bb9\u5411\u5927\u5bb6\u9032\u884c\u8aaa\u660e\u3002<\/p>\n\n\n\n<ul><li>\u7b2c\u4e00\u5c64\u7684\u9375\u503c\u300cMenu\u300d\uff1a\u8a18\u9304\u8457\u9375\u503c\u300cROS 1 noetic\u300d\u3001\u300cROS 2 foxy\u300d\u3001\u300cROS 2\/ROS 1_bridge\u300d\u3002<\/li><\/ul>\n\n\n\n<ul><li>\u7b2c\u4e8c\u5c64\u7684\u9375\u503c\u300cROS 2 foxy\u300d\uff1a\u8a18\u9304\u8457\u9375\u503c\u300coption_num\u300d\u3001\u300cROS_version\u300d\u3001\u300cdistro_name\u300d\u3001\u300cros_path\u300d\u3001\u300cdomain_id\u300d\u8207\u300ccmds\u300d\u3002\u5176\u4e2d\u300ccmds\u300d\uff1a\u4f7f\u7528\u6e05\u55ae\uff08\u9663\u5217\uff09\u7684\u65b9\u5f0f\u8a18\u9304\u8457\u8cc7\u6599\u5167\u5bb9\uff0c\u4e26\u4e14\u4f7f\u7528\u4e86\u7b26\u865f\u300c#\u300d\u9032\u884c\u8a3b\u89e3\uff0c\u8aaa\u660e\u4f7f\u7528\u65b9\u5f0f\u3002<\/li><\/ul>\n\n\n\n<p>\u9019\u88e1\u6211\u5011\u5148\u4ee5\u9810\u8a2d\u7684\u5167\u5bb9\u914d\u7f6e\u64cd\u4f5c\u74b0\u5883\uff0c\u56e0\u6b64\u8acb\u76f4\u63a5\u95dc\u9589 config.yaml \u6a94\u6848\u5f8c\uff0c\u958b\u555f\u7d42\u7aef\u6a5f\uff08\u5feb\u6377\u9375\u3010ctrl\u3011+\u3010alt\u3011+\u3010T\u3011\uff09\uff0c\u4fbf\u6703\u51fa\u73fe\u5148\u524d\u6c92\u6709\u51fa\u73fe\u904e\u7684\u8cc7\u8a0a\uff0c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/dh_e1JYlY40pKzV0y5ia738k3zKEZoNUtFKu9VV1DS4uoIt-SgcUf9WDdLO8ePtmZWVRYctxOoV_IAK5jIMMutSLhnIGVFnwtZbcreOLz6wAxUhGC6UY5xH86sH4KyyZNPaIJdltUNR0KTTaWMqPja5KGak3gf6kxBt9HkU9NBvurzHW1jgsFrPQ1w\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\"\/><\/figure><\/div>\n\n\n\n<p>\u4f9d\u7167\u7d42\u7aef\u6a5f\u6240\u986f\u793a\u7684\u8cc7\u8a0a\uff0c\u8f38\u5165\u76f8\u5c0d\u61c9\u7684\u6578\u5b57\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u57f7\u884c\u76f8\u95dc\u7684\u64cd\u4f5c\u74b0\u5883\uff1a<\/p>\n\n\n\n<p>0) Do nothing\uff1a\u4e0d\u505a\u4efb\u4f55\u4e8b\u60c5\uff0c\u8b93\u7d42\u7aef\u6a5f\u4fdd\u6301\u7cfb\u7d71\u7684\u539f\u59cb\u8a2d\u5b9a\u3002<\/p>\n\n\n\n<p>1) ROS 1 noetic\uff1a\u5c07\u7576\u524d\u7684\u7d42\u7aef\u6a5f\u5207\u63db\u81f3ROS 1 \u2013 noetic \u7684\u64cd\u4f5c\u74b0\u5883\u3002<\/p>\n\n\n\n<p>2) ROS 2 foxy\uff1a\u5c07\u7576\u524d\u7684\u7d42\u7aef\u6a5f\u5207\u63db\u81f3ROS 2 \u2013 foxy \u7684\u64cd\u4f5c\u74b0\u5883\u3002<\/p>\n\n\n\n<p>3) ROS 2\/ROS 1_bridge\uff1a \u5c07\u7576\u524d\u7684\u7d42\u7aef\u6a5f\u74b0\u5883\u57f7\u884c\u529f\u80fd\u5957\u4ef6\u5305 ROS 2\/ROS 1_bridge\uff0c\u9019\u53ef\u4ee5\u8b93 ROS 2 \u7684\u8a0a\u606f\u9023\u63a5\u57e0\u8207 ROS 1 \u7684\u8a0a\u606f\u9023\u63a5\u57e0\u9023\u63a5\uff0c\u4f7f\u5f97 ROS 2\u80fd\u5920\u8207 ROS 1 \u7cfb\u7d71\u9032\u884c\u8cc7\u6599\u7684\u4ea4\u4e92\u4f7f\u7528\u3002<\/p>\n\n\n\n<p>h) Help\uff1a\u986f\u793a\u5e6b\u52a9\u8cc7\u8a0a\u3002<\/p>\n\n\n\n<p>\u672c\u6559\u5b78\u4f7f\u7528 ROS 2 \u7684\u64cd\u4f5c\u74b0\u5883\uff0c\u56e0\u6b64\u5c07\u4e00\u5f8b\u8f38\u5165\u300c2\u300d\u57f7\u884c ROS 2 \u7684\u64cd\u4f5c\u74b0\u5883\uff0c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/-7Iv-ZqjfE4LgXKiKqLYaSes9oPGd9-zVN0mI4YG2_nQKjn2GjjTcHyWFICU3fx5NKlVf5V-Ftr9TdTWlGa2rG-AxrJCRSp4QZz9YkVLImDzYCG2eBdeh71Ki7fyTno5ZYIw7lO6llp6apLD43voV-kxOI80bbzbcqR8g4hU80QJUoBDHYEgdXmKHA\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\"\/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u5c0f\u7d50<\/h2>\n\n\n\n<p>\u7d93\u904e\u4e0a\u8ff0\u7684 ROS 2 \u5b89\u88dd\u6559\u5b78\u89e3\u8aaa\u5f8c\uff0c\u5404\u4f4d\u5925\u4f34\u5011\u662f\u4e0d\u662f\u90fd\u5df2\u7d93\u6210\u529f\u5b89\u88dd ROS 2 \u4e86\u5462\uff1f<\/p>\n\n\n\n<p>\u5982\u679c\u60f3\u8981\u5b78\u7fd2\u66f4\u591a\u6709\u95dc ROS \u7684\u5167\u5bb9\uff0c\u63a8\u85a6\u5927\u5bb6\u53ef\u4ee5\u5230\u300c<a href=\"https:\/\/magicway.taoyuan-ros.com.tw\/\" target=\"_blank\" rel=\"noreferrer noopener\">ROS \u6a5f\u5668\u4eba\u7dda\u4e0a\u8ab2\u7a0b\u5e73\u53f0<\/a>\u300d\uff0c\u6709\u8a31\u591a\u95dc\u65bc ROS \u7684\u5c08\u696d\u8ab2\u7a0b\u3001\u4f01\u696d\u8b1b\u5ea7\u548c\u5de5\u4f5c\u574a\uff0c\u6b64\u6559\u5b78\u5e73\u53f0\u662f<a href=\"https:\/\/youth.tycg.gov.tw\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u6843\u5712\u5e02\u653f\u5e9c\u9752\u5e74\u4e8b\u52d9\u5c40<\/a>\u8207<a href=\"https:\/\/www.adlinktech.com\/tw\/Index\" target=\"_blank\" rel=\"noreferrer noopener\">\u51cc\u83ef\u79d1\u6280<\/a>(ADLINK)\u5408\u4f5c\u63a8\u51fa\uff0c<a href=\"https:\/\/www.circuspi.com\/\">CIRCUS Pi<\/a> x <a href=\"https:\/\/www.icshop.com.tw\/index.php\" target=\"_blank\" rel=\"noreferrer noopener\">iCShop<\/a> \u69ae\u5e78\u6210\u70ba\u5354\u529b\u6559\u80b2\u5718\u968a\u4e4b\u4e00\uff0c\u56e0\u6b64\u53ef\u4ee5\u770b\u5230\u6211\u5011\u5c08\u696d\u8b1b\u5e2b\u5728\u4e0a\u9762\u7684\u7dda\u4e0a\u8ab2\u7a0b\u5594\uff01<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/09\/image-11.png\" alt=\"ROS \u6559\u5b78\u7cfb\u5217(\u56db)\uff0d\u5982\u4f55\u5b89\u88dd ROS 2 \uff1f\" class=\"wp-image-17593\" width=\"801\" height=\"418\"\/><\/figure><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u5728 ROS \u6559\u5b78\u7cfb\u5217(\u4e00)\uff5e(\u4e09)\u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u5206\u5225\u8a8d\u8b58\u4e86 ROS 1 \u8207 ROS 2\uff0c\u4e26\u4e14\u4e5f\u4e86\u89e3\u5169\u8005\u7684\u5dee\u7570\uff0c\u63a5\u4e0b\u4f86\u5c07\u958b\u59cb\u5e36\u9818\u5927\u5bb6\u9032\u884c ROS 2 \u7684\u958b\u767c\u74b0\u5883\u914d\u7f6e\uff0c\u5167\u5bb9\u5305\u542b\u7248\u672c\u7684\u9078\u64c7\u3001\u5b89\u88dd\u6b65\u9a5f\uff0c\u4ee5\u53ca\u914d\u7f6e ROS 1 \u8207 ROS 2 \u5171\u7528\u7684\u64cd\u4f5c\u74b0\u5883\u3002<\/p>\n","protected":false},"author":1,"featured_media":17682,"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\/17537"}],"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=17537"}],"version-history":[{"count":17,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17537\/revisions"}],"predecessor-version":[{"id":17920,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/17537\/revisions\/17920"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/17682"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=17537"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=17537"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=17537"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=17537"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}