{"id":807,"date":"2019-07-02T11:32:45","date_gmt":"2019-07-02T03:32:45","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=807"},"modified":"2022-08-02T17:21:37","modified_gmt":"2022-08-02T09:21:37","slug":"ros03","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros03\/","title":{"rendered":"\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 &#8211; \u7406\u89e3 ROS \u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0a)"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1201\" height=\"629\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/01\/blog_\u6587\u5f70\u986f\u5716_ros\u7cfb\u7d71\u6559\u5b781.0\u8a0a\u606f\u65b9\u5f0f_\u4e0a.jpg\" alt=\"\" class=\"wp-image-8813\"\/><\/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<p>\u5728\u958b\u59cb\u95b1\u8b80\u672c\u7bc7\u6587\u7ae0\u524d\uff0c\u8acb\u5148\u78ba\u4fdd\u5b8c\u6210\u8207\u77e5\u6089\u4e0b\u5217\u4e8b\u9805\uff1a<\/p>\n\n\n\n<ul><li>\u6e96\u5099\u597d\u5df2\u5b89\u88dd ROS 1.0 \u7cfb\u7d71\u4e4b\u500b\u4eba\u96fb\u8166\u6216\u55ae\u677f\u96fb\u8166\uff0c\u5b89\u88dd\u65b9\u5f0f\u53ef\u67e5\u95b1\n<a href=\"https:\/\/www.makerlab.tw\/blog\/%E8%BC%95%E9%AC%86%E6%87%89%E7%94%A8-ros%E7%9A%84%E6%8A%80%E8%A1%93-ros%E7%B3%BB%E7%B5%B1%E5%AE%89%E8%A3%9D%E6%95%99%E5%AD%B8\" target=\"_blank\" rel=\"noreferrer noopener\">\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71\u7684\u6280\u8853 \u2013 ROS 1.0 \u5b89\u88dd\u6559\u5b78<\/a>\n\n<\/li><li>\u958b\u555f\u5206\u9801\u578b Terminal \u7684\u5feb\u6377\u9375\u70ba \u300c Ctrl + shift + T\u300d<\/li><\/ul>\n\n\n\n<p>     \u00d8 \u958b\u982d\u82e5\u662f\u6b64\u7b26\u865f\uff0c\u8868\u793a\u70ba\u9700\u8981\u8f38\u5165\u7684\u6307\u4ee4<\/p>\n\n\n\n<p>\u82e5\u4e0a\u8ff0\u4e8b\u9805\u5df2\u6e96\u5099\u5c31\u7dd2\uff0c\u4fbf\u53ef\u4ee5\u958b\u59cb\u95b1\u8b80\u4e0b\u5217\u7684\u6559\u5b78\u6587\u7ae0\u56c9 !<\/p>\n\n\n\n<p>\u7576\u6211\u5011\u5c07 ROS 1.0 \u7cfb\u7d71\u5b89\u88dd\u5b8c\u6210\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u958b\u59cb\u5229\u7528 ROS 1.0 \u7cfb\u7d71\u5167\u5efa\u7684\u6559\u5b78 \u2013 package turtlesim \u4f86\u4e86\u89e3 ROS\u7cfb\u7d71\u7684\u8a0a\u606f\u50b3\u905e\u65b9\u5594 !<\/p>\n\n\n\n<p>\u5728\u672c\u7bc7\u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u5c07\u53ef\u4ee5\u5b78\u7fd2\u5230\uff1a<\/p>\n\n\n\n<ul><li>Master\u3001Node \u3001Topic\u8207Message \u7684\u95dc\u4fc2<\/li><li>rosrun\u3001rostopic\u3001rosnode\u3001rosmsg \n<a href=\"https:\/\/www.youtube.com\/watch?v=s7wmiS2mSXY\" target=\"_blank\" rel=\"noreferrer noopener\">\u61c9\u7528\u7a0b\u5f0f\u4ecb\u9762( <strong>API<\/strong>  )<\/a>\u7684\u57fa\u672c\u4f7f\u7528\u65b9\u6cd5 <\/li><\/ul>\n\n\n\n<p>\u90a3\u5c31\u5148\u8b93\u6211\u5011\u4f86\u770b\u4e00\u4e0b\u8f15\u9b06\u7684\u5c0f\u6f2b\u756b\u5427<\/p>\n\n\n\n<p>( \u8acb\u6ce8\u610f IP \u4f4d\u7f6e\u70ba\u675c\u64b0\u4e4b\u4f4d\u7f6e )<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_71849ceb6fd6422e8aff45ed4af50061~mv2.jpg\/v1\/fill\/w_740,h_5179,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_71849ceb6fd6422e8aff45ed4af50061~mv2.webp\" alt=\"\u5275\u5ba2\u840a\u5427\u539f\u5275\"\/><\/figure>\n\n\n\n<p>ROS\u7cfb\u7d71\u50b3\u905e\u8a0a\u606f\u904e\u7a0b ( \u5275\u5ba2\u840a\u5427\u539f\u5275\u6f2b\u756b )<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_9aa71d68763e4526872644280b11b3bc~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u70cf\u9f9c\u8001\u95c6\u524d\u9032\u5169\u6b65 gif \u52d5\u756b\u5716<\/p>\n\n\n\n<p>\u4e0a\u8ff0\u7684\u5c0f\u6f2b\u756b\u4e2d\uff0c\u4fbf\u7c21\u7565\u7684\u4ecb\u7d39\u4e86\uff0c\u5982\u679c\u8981\u8b93turtlesim\u6559\u5b78\u4e2d\u7684\u5c0f\u70cf\u9f9c\u524d\u9032\u6642\uff0c\u6240\u9700\u8981\u7684\u5404\u7a2e\u6e96\u5099\u8207\u8a0a\u606f\u50b3\u905e\u65b9\u5f0f\u3002\u4e0b\u9762\u6211\u5011\u5c07\u7528\u4e00\u683c\u4e00\u683c\u89e3\u6790\u7684\u65b9\u5f0f\uff0c\u8b93\u4f60\u66f4\u6e05\u695a\u7684\u7406\u89e3Master\u3001Node \u3001Topic\u8207 Message \u4e4b\u9593\u7684\u95dc\u4fc2\u30021. \u8b93\u60f3\u8981\u8a3b\u518aMaster \u7684\u96fb\u8166\uff0c\u64c1\u6709\u4e00\u7d44 IP\u4f4d\u7f6e <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_1a27494066cb43c1ac7099fddc8938c9~mv2.jpg\/v1\/fill\/w_740,h_757,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_1a27494066cb43c1ac7099fddc8938c9~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8b93\u96fb\u8166\u64c1\u6709 IP \u4f4d\u7f6e<\/p>\n\n\n\n<p>\u7b2c\u4e00\u683c\u6f2b\u756b\u6240\u4ee3\u8868\u7684\u610f\u601d\uff0c\u4fbf\u662f\u6c7a\u5b9a\u7531\u54ea\u4e00\u53f0\u96fb\u8166\u57f7\u884c \u300c roscore \u300d\u6307\u4ee4\uff0c\u5411\u96fb\u8166\u6240\u8655\u7684\u5340\u57df\u7db2\u8def\uff0c\u8a3b\u518a \u300c Master Node \u300d\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u6211\u5011\u9700\u8981\u5148\u8b93\u865b\u64ec\u6a5f\u5668( \u672c\u7bc7\u6587\u7ae0\u7686\u63a1\u7528\u5be6\u9ad4\u540d\u7a31\u70ba makerlab \u7684\u865b\u64ec\u6a5f\u5668 ) \u78ba\u4fdd\u64c1\u6709\u4e00\u7d44 IP \u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u800c\u6211\u5011\u4f7f\u7528\u7684 \u300c\u865b\u64ec\u6a5f\u5668 Virtualbox\u300d\uff0c\u9810\u8a2d\u4f7f\u7528\u300cNAT\u300d\u65b9\u5f0f\u4f86\u7372\u53d6 IP\u4f4d\u7f6e( <a href=\"https:\/\/tw.saowen.com\/a\/62a430eae0466c5e08160d17907cac74e30b77ad2694fe198dcd0711a822dcca\" target=\"_blank\" rel=\"noreferrer noopener\">\u9ede\u6b64\u67e5\u770b\u8aaa\u660e<\/a> )\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\u82e5\u662f\u50c5\u5728\u865b\u64ec\u6a5f\u5668\u4e0a\u4f7f\u7528 ROS 1.0\u7cfb\u7d71\uff0c\u662f\u53ef\u4ee5\u6b63\u5e38\u57f7\u884c\u7684\u3002<\/p>\n\n\n\n<p>\u4f46\u82e5\u662f\u60f3\u8207\u5916\u90e8\u4efb\u4f55\u8a2d\u5099\u9032\u884c\u8a0a\u606f\u50b3\u905e\u6642\uff0c\u5c07\u662f\u6c92\u6709\u8fa6\u6cd5\u7684\u3002( \u89e3\u6c7a\u65b9\u6cd5\u5c07\u6703\u5728 \u8f15\u9b06\u61c9\u7528ROS\u7684\u6280\u8853 &#8211; \u7406\u89e3ROS 1.0\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71\u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0b) \u8aaa\u660e )2. \u5411\u6240\u5728\u7684\u5340\u57df\u7db2\u8def\uff0c\u8a3b\u518a Master Node<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_4abe8816f65044e0898170a6746ce675~mv2.jpg\/v1\/fill\/w_740,h_741,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_4abe8816f65044e0898170a6746ce675~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5411\u6240\u5728\u7684\u5340\u57df\u7db2\u8def\u8a3b\u518a Master Node<\/p>\n\n\n\n<p>\u7576\u865b\u64ec\u6a5f\u5668\u64c1\u6709\u4e00\u7d44 IP \u4f4d\u7f6e\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u57f7\u884c\u6307\u4ee4\uff0c\u5728\u8a72\u7db2\u57df\u8a3b\u518a Master Node\u3002<\/p>\n\n\n\n<p>\u57f7\u884c\u5b8c\u7562\u5f8c\uff0c\u8acb\u8a18\u5f97\u67e5\u770b ROS_MASTER_URI \u6240\u986f\u793a\u7684\u8cc7\u8a0a\uff0c\u662f\u5426\u70ba\u865b\u64ec\u6a5f\u5668\u7684\u5be6\u9ad4\u540d\u7a31 ( \u672c\u7bc7\u6587\u7ae0\u7686\u70ba makerlab )\uff0c\u6216\u662f\u865b\u64ec\u6a5f\u5668\u7684 IP\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u00d8 \u8a3b\u518a Master Node \u6307\u4ee4\uff1a roscore<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_0334a58ac8744e09be2ea0a13b59ecde~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u57f7\u884c roscore \u6307\u4ee4\u8f38\u5165<\/p>\n\n\n\n<p>\u63a5\u8457\uff0c\u70ba\u4e86\u8b93\u6211\u5011\u80fd\u5920\u66f4\u65b9\u4fbf\u7684\u5b78\u7fd2 ROS 1.0 \u7cfb\u7d71\uff0c\u5b98\u65b9\u6559\u5b78\u4e2d\u53ef\u4ee5\u57f7\u884c\u4e00\u500b \u300c\u5c0f\u70cf\u9f9c\u300d\u7684\u7a0b\u5f0f\u78bc\u6a94\u6848 ( \u5305\u542b\u8a02\u95b1\u8005\u7bc0\u9ede ( subscriber node ) )\uff0c\u8b93\u6211\u5011\u80fd\u5920\u89c0\u5bdf\u5c0f\u70cf\u9f9c\u7684\u904b\u52d5\u8ecc\u8de1\uff0c\u4f86\u7406\u89e3 ROS \u7cfb\u7d71\u4e2d\u7684\u90e8\u5206\u904b\u4f5c\u65b9\u5f0f\u3002<\/p>\n\n\n\n<ul><li>ROS \u7cfb\u7d71 \u57f7\u884c\u55ae\u4e00\u7a0b\u5f0f\u7684 API \uff1a <a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\/UnderstandingNodes\" target=\"_blank\" rel=\"noreferrer noopener\">rosrun \u3010package\u3011\u3010node_name\u3011<\/a><\/li><\/ul>\n\n\n\n<p>\u00d8 \u958b\u555f\u5c0f\u70cf\u9f9c\u6307\u4ee4\uff1arosrun turtlesim turtlesim_node <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_03999654caa64c6ea8c0fc7938f8fd3f~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u958b\u555f\u5c0f\u70cf\u9f9c\u6307\u4ee4\u8f38\u5165 (\u958b\u555f\u5206\u9801\u578b terminal \u5feb\u6377\u9375 :\u300c Ctrl + Shift + T\u300d)<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_6fd425e67d5b4540962f9157a75431a3~mv2.jpg\/v1\/fill\/w_740,h_353,al_c,lg_1,q_90\/fe1b0a_6fd425e67d5b4540962f9157a75431a3~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>Package turtlesim \u5b58\u653e\u7684\u7a0b\u5f0f\u78bc\u6a94\u6848<\/p>\n\n\n\n<p>\u9806\u4fbf\u63d0\u9192\u5927\u5bb6\uff0c\u901a\u5e38\u5728\u8a2d\u8a08 ROS\u7cfb\u7d71 \u7a0b\u5f0f\u78bc\u6a94\u6848\u6642\uff0c\u5927\u81f4\u4e0a\u6703\u5c07\u300c\u7bc0\u9ede\u540d\u7a31\u300d\u8207\u300c\u7a0b\u5f0f\u78bc\u6a94\u6848\u540d\u7a31\u300d\u53d6\u70ba\u4e00\u6a21\u4e00\u6a23\u7684\u540d\u7a31\u5594!<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u5728 <a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\" target=\"_blank\" rel=\"noreferrer noopener\">ros \u5b98\u65b9\u6559\u5b78\u7db2\u9801<\/a>\u4e0a\uff0c\u624d\u6703\u5728\u90e8\u5206 API \u7684\u4f7f\u7528\u65b9\u6cd5\u4e2d\uff0c\u8981\u6c42\u8f38\u5165 \u300cnode_name\u300d\u53c3\u6578 ( \u5be6\u969b\u4e0a\u662f\u8f38\u5165\u7a0b\u5f0f\u78bc\u6a94\u6848\u540d\u7a31 )\u3002<\/p>\n\n\n\n<p>\u7576\u7136\u82e5\u662f\u53d6\u4e0d\u4e00\u6a23\u7684\u540d\u7a31\uff0c ROS\u7cfb\u7d71\u9084\u662f\u53ef\u4ee5\u904b\u4f5c\u7684\u3002\u4f8b\u5982\u4e0b\u9762\u7b2c\u4e09\u90e8\u4efd\u7684\u4ecb\u7d39\u4e2d\uff0c\u7a0b\u5f0f\u78bc\u6a94\u6848\u540d\u7a31\u8207\u7bc0\u9ede\u540d\u7a31\u4fbf\u70ba\u4e0d\u4e00\u6a23\u7684\u540d\u7a31\uff0c\u6b64\u8655\u7684\u4e0d\u540c\u662f\u70ba\u4e86\u8b93\u5927\u5bb6\u7406\u89e3\u7a0b\u5f0f\u78bc\u6a94\u6848\u540d\u7a31\u8207\u7bc0\u9ede\u540d\u7a31\u7684\u5340\u5225\u3002 3.\u57f7\u884c\u5305\u542b\u767c\u5e03\u8005\u7bc0\u9ede(Publisher Node)\u7684\u7a0b\u5f0f\u78bc\u6a94\u6848 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_62cb73a668524e49ba01c0e9298332ac~mv2.jpg\/v1\/fill\/w_740,h_734,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_62cb73a668524e49ba01c0e9298332ac~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u57f7\u884c\u767c\u5e03\u8005\u7bc0\u9ede( Publisher Node )<\/p>\n\n\n\n<p>\u63a5\u8457\uff0c\u6211\u5011\u7684\u7bc0\u9ede \u300c teleop_turtle \u300d\u5148\u751f\uff0c\u60f3\u8981\u767c\u5e03\u4e00\u500b\u300c\u4e3b\u984c\u300d\uff0c\u65bc\u662f\u4ed6\u900f\u904e\u5404\u7a2e\u7ba1\u9053\uff0c\u627e\u5230\u4e86 \u300c Master \u300d\uff0c\u4e00\u500b\u525b\u525b\u8a3b\u518a\u7684\u4e3b\u7bc0\u9ede\u3002<\/p>\n\n\n\n<p>\u767c\u5e03\u8005\u7bc0\u9ede\u60f3\u8981\u627e\u5230\u4e3b\u7bc0\u9ede ( Master )\u9019\u500b\u904e\u7a0b\uff0c\u4fbf\u662f\u5229\u7528ROS 1.0\u7cfb\u7d71\uff0c\u57f7\u884c\u767c\u5e03\u8005\u7bc0\u9ede\u9019\u500b\u6307\u4ee4\u4e86\u3002<\/p>\n\n\n\n<p>\u00d8 \u57f7\u884c\u5305\u542b\u767c\u5e03\u8005\u7bc0\u9ede teleop_turtle \u7684\u7a0b\u5f0f\u78bc\u6a94\u6848 \u2013 \u300c turtle_teleop_key \u300d\u6307\u4ee4\uff1a rosrun turtlesim turtle_teleop_key<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_5c2c796b46cf4b24ac4ac9d593ed7d88~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u57f7\u884c turtle_teleop_key \u6307\u4ee4\u8f38\u51654.\u67e5\u8a62\u76ee\u524d\u7684\u7bc0\u9ede( Node )\u3001\u4e3b\u984c ( Topic ) \u3001 \u8a0a\u606f( Message )<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_da8d379e43e6491db11e7b74c61a4870~mv2.jpg\/v1\/fill\/w_740,h_749,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_da8d379e43e6491db11e7b74c61a4870~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u67e5\u8a62\u76ee\u524d\u7684\u7bc0\u9ede( Node )\u3001\u4e3b\u984c ( Topic ) \u3001 \u8a0a\u606f( Message )<\/p>\n\n\n\n<p>\u7576\u6211\u5011\u57f7\u884c\u5b8c turtle_teleop_key\u7684\u7a0b\u5f0f\u78bc\u6a94\u6848\u4e4b\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u5229\u7528 ROS\u7cfb\u7d71\u4e2d\u7684\u5c0f\u5de5\u5177\uff0c\u67e5\u8a62\u76ee\u524d\u7cfb\u7d71\u4e2d\u6b63\u5728\u57f7\u884c\u7684\u7bc0\u9ede\u8207\u5176\u8cc7\u8a0a\u3002<\/p>\n\n\n\n<p>\u00d8 \u67e5\u8a62 ROS\u7cfb\u7d71\u4e2d\u6b63\u5728\u57f7\u884c\u7684\u7bc0\u9ede\uff1arosnode list<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_80f629dbf82a409885439c1c4efbd1ca~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u67e5\u8a62 ROS\u7cfb\u7d71\u4e2d\u6b63\u5728\u57f7\u884c\u7684\u7bc0\u9ede\u6307\u4ee4\u8f38\u5165<\/p>\n\n\n\n<p>\u7531\u4e0a\u65b9\u7684 gif \u52d5\u756b\uff0c\u53ef\u4ee5\u5f97\u77e5\u76ee\u524d\u767c\u5e03\u7684\u7bc0\u9ede\u6709 3 \u500b<\/p>\n\n\n\n<ul><li> \/rosout<\/li><li>\/teleop_turtle<\/li><li>\/turtlesim<\/li><\/ul>\n\n\n\n<p>\u800c\u60f3\u8981\u67e5\u770b\u9019\u4e9b\u7bc0\u9ede\u7684\u8a73\u7d30\u8cc7\u8a0a\uff0c\u53ef\u4ee5\u4f7f\u7528 \u300c rosnode info \u3010node name\u3011\u300d\u6307\u4ee4\u3002\u4f8b\u5982\u60f3\u8981\u67e5\u770b \/teleop_turtle \u7bc0\u9ede\u7684\u8cc7\u8a0a<\/p>\n\n\n\n<p>\u00d8 \u67e5\u770b \/teleop_turtle \u7bc0\u9ede\u7684\u8cc7\u8a0a\u6307\u4ee4\uff1arosnode info \/teleop_turtle<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_4b4049844d124c12a13533140da3be6d~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u67e5\u770b \/teleop_turtle \u7bc0\u9ede\u7684\u8cc7\u8a0a\u6307\u4ee4\u8f38\u5165<\/p>\n\n\n\n<p> \u5f9eROS\u7cfb\u7d71\u4e2d\u56de\u61c9\u7684\u8cc7\u8a0a\uff0c\u6211\u5011\u53ef\u4ee5\u770b\u5230\u7684\u7d50\u679c\u5982\u4e0b\u5716 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_222f5187864c41e7b2a4d21579e30afe~mv2.jpg\/v1\/fill\/w_740,h_440,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_222f5187864c41e7b2a4d21579e30afe~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>ROS\u7cfb\u7d71\u56de\u61c9\u7684 \/teleop_turtle \u7bc0\u9ede\u7684\u8cc7\u8a0a<\/p>\n\n\n\n<p>\u5f9e\u4e0a\u5716\u6211\u5011\u53ef\u4ee5\u77e5\u9053\uff0c\/teleop_turtle \u7bc0\u9ede\u767c\u5e03\u4e86\u5169\u500b\u4e3b\u984c( Topic )<\/p>\n\n\n\n<ul><li>\/rosout<\/li><li>\/turtle1\/cmd_vel<\/li><\/ul>\n\n\n\n<p>\u9700\u8981\u7279\u5225\u6ce8\u610f\u7684\u662f\uff1a<\/p>\n\n\n\n<ul><li>\u6bcf\u500b\u7bc0\u9ede\u672c\u8eab\u662f\u53ef\u4ee5\u540c\u6642\u9032\u884c\u767c\u5e03\u8207\u63a5\u6536\u4e3b\u984c ( Topic ) \u7684\u52d5\u4f5c<\/li><li>\u6bcf\u500b\u7bc0\u9ede\u53ef\u4ee5\u767c\u4f48( Publish )\uff0c\u6216\u662f\u8a02\u95b1( Subscriber )\u591a\u500b\u4e3b\u984c( Topic )<\/li><\/ul>\n\n\n\n<p>\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u53ef\u4ee5\u67e5\u770b\u4e3b\u984c( Topic ) \/turtle1\/cmd_vel \u7684\u8cc7\u8a0a<\/p>\n\n\n\n<p>\u00d8 \u67e5\u770b\u4e3b\u984c( Topic ) \/turtle1\/cmd_vel \u7684\u8cc7\u8a0a\u6307\u4ee4\uff1arostopic info \/turtle1\/cmd_vel <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_52e89b4f7edd4a76a4000c8d8263f73c~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u67e5\u770b\u4e3b\u984c( Topic ) \/turtle1\/cmd_vel \u7684\u8cc7\u8a0a\u6307\u4ee4\u8f38\u5165<\/p>\n\n\n\n<p>\u5230\u76ee\u524d\u70ba\u6b62\uff0c\u6211\u5011\u5206\u5225\u67e5\u770b\u4e86 Node \u8207 Topic\u3002\u4f46\u5982\u679c\u7cfb\u7d71\u904e\u65bc\u9f90\u5927\uff0c\u958b\u555f\u7684\u7bc0\u9ede\u591a\u9054\u4e0a\u767e\u500b\u6642\uff0c\u4e0a\u8ff0\u7684\u67e5\u8a62\u65b9\u6cd5\u5c07\u8b8a\u5f97\u6709\u9ede\u7e41\u8907\u3002\u56e0\u6b64\uff0cROS\u7cfb\u7d71\u4e2d\u7684 rqt \u5de5\u5177\uff0c\u4fbf\u53ef\u4ee5\u300c\u52d5\u614b\u6d41\u7a0b\u5716 ( dynamic graph )\u300d\u7684\u65b9\u5f0f\uff0c\u4f86\u5448\u73fe\u51fa\u7bc0\u9ede(Node) \u8207 \u4e3b\u984c(Topic) \u4e4b\u9593\u7684\u95dc\u4fc2\u3002<\/p>\n\n\n\n<p>\u00d8 \u547c\u53eb\u52d5\u614b\u6d41\u7a0b\u5716 ( dynamic graph ) \u7684\u6307\u4ee4\uff1arosrun rqt_graph rqt_graph <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_4b823a9ab3604d3e8407e4d307581c93~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u547c\u53eb\u52d5\u614b\u6d41\u7a0b\u5716 ( dynamic graph ) \u7684\u6307\u4ee4\u8f38\u5165<\/p>\n\n\n\n<p>\u63a5\u8457\uff0c\u4fbf\u6703\u8df3\u51fa\u52d5\u614b\u6d41\u7a0b\u5716 ( dynamic graph )\u7684\u756b\u9762\uff0c\u6211\u5011\u9084\u9700\u8981\u5c07\u6ed1\u9f20\u79fb\u52d5\u5230 \u4e3b\u984c( Topic ) \u7684\u5b57\u6a23\u4e0a\uff0c\u624d\u6703\u986f\u793a\u51fa\u984f\u8272\u8b93\u6211\u5011\u66f4\u52a0\u65b9\u4fbf\u7684\u5340\u5206\u7bc0\u9ede(Node)\u3002 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_b03b84bed29740ffaa865399b9e3443e~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5c07\u6ed1\u9f20\u79fb\u52d5\u5230\u4e3b\u984c( Topic ) \u7684\u5b57\u6a23\u4e0a<\/p>\n\n\n\n<p>\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul><li>\u85cd\u8272\u5b57\u9ad4 \uff1a \u767c\u5e03\u8005\u7bc0\u9ede ( Publisher Node )<\/li><li>\u7d05\u8272\u5b57\u9ad4 \uff1a \u4e3b\u984c ( Topic )<\/li><li>\u7da0\u8272\u5b57\u9ad4 \uff1a \u8a02\u95b1\u8005\u7bc0\u9ede ( Subscriber Node ) <\/li><\/ul>\n\n\n\n<p>\u9019\u6a23\uff0c\u900f\u904e\u547c\u53eb\u52d5\u614b\u6d41\u7a0b\u5716 ( dynamic graph )\u7684\u65b9\u6cd5\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u5feb\u901f\u4e86\u89e3\u5230ROS\u7cfb\u7d71\u4e2d\u5404\u500b\u7bc0\u9ede(Node)\u4e4b\u9593\u7684\u95dc\u4fc2\u8207\u50b3\u905e\u7684\u4e3b\u984c(Topic)\u3002<\/p>\n\n\n\n<p>\u7576\u6211\u5011\u77e5\u9053\u4e86\u50b3\u905e\u7684\u4e3b\u984c( Topic ) \u4e4b\u5f8c\uff0c\u63a5\u4e0b\u4f86\u8981\u4e86\u89e3\u7684\u662f\u8a0a\u606f( Message )\u3002<\/p>\n\n\n\n<p>\u900f\u904e\u7b2c4\u683c\u6f2b\u756b\uff0c\u4f60\u53ef\u4ee5\u6e05\u695a\u7684\u7406\u89e3\u5230\uff0c\u6bcf\u500b\u4e3b\u984c( Topic )\u88e1\u7684\u8cc7\u8a0a\u5167\u5bb9\uff0c\u4fbf\u662f \u8a0a\u606f( Message )\u3002<\/p>\n\n\n\n<p>\u9019\u6b21\uff0c\u6211\u5011\u8981\u4f86\u67e5\u770b\u4e3b\u984c( Topic ) \/turtle1\/cmd_vel \u7684 \u8a0a\u606f( Message )\uff0c geometry_msgs\/Twist \uff0c\u64c1\u6709\u7684\u662f\u4ec0\u9ebc\u6a23\u7684\u8cc7\u6599\u683c\u5f0f\u3002<\/p>\n\n\n\n<p>\u00d8 \u67e5\u770b\u8a0a\u606f( Message ) geometry_msgs\/Twist \u7684\u6307\u4ee4\uff1a rosmsg show geometry_msgs\/Twist<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_bdfbfca539f746c4bfb6ec908665eb1b~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u67e5\u770b\u8a0a\u606f( Message )  geometry_msgs\/Twist \u7684\u6307\u4ee4\u8f38\u5165<\/p>\n\n\n\n<p>\u6839\u64da ROS\u7cfb\u7d71\u56de\u61c9\u7684\u8cc7\u8a0a\uff0c\u8a0a\u606f( Message ) geometry_msgs\/Twist\u6240\u8a18\u9304\u7684\u8cc7\u6599\u683c\u5f0f\u70ba\u4e0b\u5716\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_302c4ec824ac41fdb3e0f554d5bbe5c7~mv2.jpg\/v1\/fill\/w_615,h_223,al_c,lg_1,q_90\/fe1b0a_302c4ec824ac41fdb3e0f554d5bbe5c7~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8a0a\u606f( Message ) geometry_msgs\/Twist\u6240\u8a18\u9304\u7684\u8cc7\u6599\u683c\u5f0f5.\u70cf\u9f9c\u8001\u95c6\u79fb\u52d5\u6642\u6240\u9700\u8981\u7684\u52d5\u4f5c<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_c0014336ad5445d0b26890abd77b1f13~mv2.jpg\/v1\/fill\/w_740,h_2193,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_c0014336ad5445d0b26890abd77b1f13~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_9aa71d68763e4526872644280b11b3bc~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>Turtle1 \u79fb\u52d5\u756b\u9762<\/p>\n\n\n\n<p>\u63a5\u8457\uff0c\u8981\u8b93\u70cf\u9f9c\u8001\u95c6\u958b\u59cb\u52d5\u4f5c\u7684\u6642\u5019\uff0c\u5be6\u969b\u4e0a\u6703\u900f\u904e\u8a02\u95b1\u8005\u7bc0\u9ede ( Subscriber Node ) \/turtlesim \uff0c\u4e0d\u65b7\u5730\u5411\u4e3b\u7bc0\u9ede( Master Node )\u8a02\u95b1\u4e3b\u984c ( Topic ) \/turtle1\/cmd_vel \uff0c\u4f86\u7406\u89e3\u73fe\u5728\u4ed6\u81ea\u5df1\u61c9\u8a72\u8981\u5982\u4f55\u52d5\u4f5c\u624d\u662f\u6b63\u78ba\u7684\u3002 <\/p>\n\n\n\n<p>\u6211\u5011\u53ef\u4ee5\u4f7f\u7528\u67e5\u770b\u4e3b\u984c( Topic ) \u56de\u61c9\u7684\u65b9\u5f0f\uff0c\u5c07\u8a72\u4e3b\u984c( Topic ) \u6240\u767c\u5e03\u7684\u8a0a\u606f ( Message ) \u5167\u5bb9\uff0c\u8f38\u51fa\u5728\u7d42\u7aef\u6a5f\u4e0a\u3002<\/p>\n\n\n\n<p>\u00d8 \u67e5\u770b\u4e3b\u984c( Topic ) \/turtle1\/cmd_vel \u6240\u767c\u5e03\u7684\u8a0a\u606f ( Message )\u5167\u5bb9\uff1a rostopic echo \/turtle1\/cmd_vel<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_d2b758a1cec04f679afcf2d37e20c352~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u67e5\u770b\u4e3b\u984c( Topic ) \/turtle1\/cmd_vel \u6240\u767c\u5e03\u7684\u8a0a\u606f ( Message )\u5167\u5bb9\u6307\u4ee4\u8f38\u5165<\/p>\n\n\n\n<p>\u60f3\u8981\u79fb\u52d5\u70cf\u9f9c\u8001\u95c6\u6642\uff0c \u8acb\u8a18\u5f97\u8981\u5728\u958b\u555f turtle_teleop_key \u7a0b\u5f0f\u78bc\u6a94\u6848\u7d42\u7aef\u6a5f\u5167\u6309\u4e0b\u65b9\u5411\u9375\u5594!<\/p>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u6211\u5011\u4ed4\u7d30\u5730\u5c07\u4e3b\u7bc0\u9ede ( Master Node ) \u3001\u767c\u5e03\u8005\u7bc0\u9ede ( Publisher Node )\u3001\u8a02\u95b1\u8005\u7bc0\u9ede( Subscriber Node )\u3001\u4e3b\u984c ( Topic ) \u3001 \u8a0a\u606f ( Message )\u4e4b\u9593\u7684\u95dc\u4fc2\uff0c\u900f\u904e\u5be6\u969b\u8f38\u5165\u6307\u4ee4\u67e5\u627e\u7684\u65b9\u5f0f\uff0c\u4e00\u4e00\u5730\u6574\u7406\u51fa\u4f86\u3002<\/p>\n\n\n\n<p>\u6211\u5011\u53ef\u4ee5\u4ee5\u4e00\u5f35\u5716\u4f86\u89e3\u91cb\u4e0a\u8ff0\u7684\u95dc\u4fc2 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_b8673610a6cc4876817e2c9d6ef3dadf~mv2.jpg\/v1\/fill\/w_740,h_330,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_b8673610a6cc4876817e2c9d6ef3dadf~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3b\u7bc0\u9ede(Master Node) \u3001\u767c\u5e03\u8005(Publisher Node)\u3001\u8a02\u95b1\u8005(Subscriber Mode)\u8207\u4e3b\u984c(Topic)\u7684\u95dc\u4fc2 <\/p>\n\n\n\n<p>\u4e0b\u4e00\u7bc7\u6587\u7ae0\uff0c\u300c \u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71\u7684\u6280\u8853 &#8211; \u7406\u89e3 ROS 1.0 \u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0b) \u300d\uff0c\u6211\u5011\u5c07\u6703\u4ecb\u7d39\u5982\u4f55\u4f7f\u7528 ROS 1.0 \u7cfb\u7d71\uff0c\u5b8c\u6210\u591a\u53f0\u96fb\u8166\u4e4b\u9593\u7684\u4e92\u76f8\u901a\u8a0a\u5594~!\u9019\u610f\u5473\u8457\u4f60\u5c07\u5b78\u6703\u6309\u4e0b A\u96fb\u8166\u7684\u65b9\u5411\u9375\uff0c\u7136\u5f8c\u9060\u7aef\u64cd\u63a7 B\u96fb\u8166\u7684 \u70cf\u9f9c\u8001\u95c6\u5594!<\/p>\n\n\n\n<p>\u8acb\u8a18\u5f97\u6e96\u5099\u597d\u53e6\u5916\u4e00\u53f0\u5df2\u88dd\u597d ROS 1.0 \u7cfb\u7d71\u7684\u96fb\u8166\u5594(\u6216\u662f\u55ae\u677f\u96fb\u8166\uff0c\u5982\u6a39\u8393\u6d3e)! <\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u958b\u59cb\u95b1\u8b80\u672c\u7bc7\u6587\u7ae0\u524d\uff0c\u8acb\u5148\u78ba\u4fdd\u5b8c\u6210\u8207\u77e5\u6089\u4e0b\u5217\u4e8b\u9805\uff1a \u6e96\u5099\u597d\u5df2\u5b89\u88dd ROS 1.0 \u7cfb\u7d71\u4e4b\u500b\u4eba\u96fb\u8166\u6216\u55ae\u677f\u96fb\u8166\uff0c\u5b89 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":8813,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[34,238],"tags":[53,54],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/807"}],"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=807"}],"version-history":[{"count":7,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/807\/revisions"}],"predecessor-version":[{"id":9529,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/807\/revisions\/9529"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/8813"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=807"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=807"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=807"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=807"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}