{"id":809,"date":"2019-07-02T11:36:46","date_gmt":"2019-07-02T03:36:46","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=809"},"modified":"2022-08-02T17:21:19","modified_gmt":"2022-08-02T09:21:19","slug":"ros04","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros04\/","title":{"rendered":"\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 &#8211; \u7406\u89e3 ROS \u6a5f\u5668\u4eba\u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0b)"},"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_\u4e0b.jpg\" alt=\"\" class=\"wp-image-8811\"\/><\/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\u8a8d\u5b8c\u6210\u4e0b\u5217\u4e8b\u9805\uff1a<\/p>\n\n\n\n<ul><li>\u6e96\u5099\u597d\u5169\u53f0\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 <a href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros02\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">\u8f15\u9b06\u61c9\u7528ROS\u7684\u6280\u8853 \u2013 ROS 1.0\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71\u5b89\u88dd\u6559\u5b78<\/a> <\/li><li>\u958b\u555f\u5206\u9801\u578b Terminal \u7684\u5feb\u6377\u9375\u70ba \u300c Ctrl + shift + T\u300d<\/li><li>\u5df2\u95b1\u8b80\u5b8c\u6210\u6b64\u7bc7\u6559\u5b78\u6587\u7ae0\uff1a<a href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros03\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 &#8211; \u7406\u89e3 ROS 1.0 \u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0a)<\/a><\/li><li>\u672c\u6587\u7ae0\u7bc4\u4f8b\u7684 IP\u4f4d\u7f6e\u7686\u662f\u5728CIRCUS Pi \u6e2c\u8a66\u6642\u6240\u4f7f\u7528\u7684\uff0c\u64cd\u4f5c\u6642\u8acb\u4f7f\u7528\u81ea\u5df1\u67e5\u8a62\u5230\u7684 IP\u4f4d\u7f6e<\/li><li>\u00d8 \u958b\u982d\u82e5\u662f\u6b64\u7b26\u865f\uff0c\u8868\u793a\u70ba\u9700\u8981\u8f38\u5165\u7684\u6307\u4ee4<\/li><\/ul>\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\u80fd\u5920\u521d\u6b65\u7684\u4f7f\u7528 ROS 1.0 \u7cfb\u7d71\u7c21\u55ae\u63a7\u5236 turtlesim \u4e2d\u7684\u5c0f\u70cf\u9f9c\u5f8c\uff0c\u63a5\u4e0b\u4f86\u8981\u6311\u6230\u7684\u662f\uff0c\u64cd\u63a7\u5225\u53f0\u6a5f\u5668\u4e0a\u7684\u5c0f\u70cf\u9f9c\u56c9! \u5728\u672c\u7bc7\u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u5c07\u53ef\u4ee5\u5b78\u7fd2\u5230<\/p>\n\n\n\n<p>1. \u865b\u64ec\u6a5f\u5668 Virtualbox \u7684\u7db2\u8def\u8a2d\u5b9a\u8207\u6e2c\u8a66<\/p>\n\n\n\n<p>2. \u591a\u53f0\u6a5f\u5668\u904b\u884cROS 1.0 \u7684\u8a2d\u5b9a\u65b9\u6cd5<\/p>\n\n\n\n<p>3. \u865b\u64ec\u6a5f\u5668\u9060\u7aef\u9059\u63a7\u6a39\u8393\u6d3e\u4e0a\u7684\u5c0f\u70cf\u9f9c\u6e2c\u8a66<\/p>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u7684\u91cd\u9ede\uff0c\u662f\u5728\u300c<strong>\u5ba4\u5167<\/strong>\u300d\u4f7f\u7528\u591a\u53f0\u6a5f\u5668\u4e00\u540c\u4f7f\u7528 ROS1.0 \u7cfb\u7d71\u3002\u70ba\u4e86\u9054\u6210\u9019\u4e00\u500b\u76ee\u7684\uff0c\u9996\u5148\u9700\u8981\u4e86\u89e3\u7684\u4fbf\u662f ROS 1.0\u7cfb\u7d71\u7684\u9060\u7aef\u901a\u8a0a\u67b6\u69cb\u4e86\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_8f96e02a3dc84c608ba756b3e1b2f9ef~mv2.jpg\/v1\/fill\/w_961,h_615,al_c,q_90\/fe1b0a_8f96e02a3dc84c608ba756b3e1b2f9ef~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u591a\u53f0\u6a5f\u5668\u4e0a\u904b\u884c ROS 1.0\u7cfb\u7d71\u9060\u7aef\u901a\u8a0a\u67b6\u69cb\u793a\u610f\u5716<\/p>\n\n\n\n<p>ROS 1.0 \u7cfb\u7d71\u900f\u904e TCP\/IP\u7684\u901a\u8a0a\u5354\u5b9a\u4f86\u5b8c\u6210\u8207\u591a\u500b\u6a5f\u5668\u4eba\u4e4b\u9593\u7684\u901a\u8a0a\u3002\u7528\u7c21\u55ae\u7684\u8a71\u8a9e\u4f86\u8aaa\uff0c\u5c31\u662f\u53ea\u8981\u77e5\u9053\u5404\u500b\u6a5f\u5668\u4eba\u9593\u7684\u672c\u5730IP\u4f4d\u7f6e\uff0c\u4fbf\u53ef\u4ee5\u5728\u300c<strong>\u5ba4\u5167<\/strong>\u300d\u4f7f\u7528 ROS 1.0\u7cfb\u7d71\u4f86\u5b8c\u6210\u5404\u7a2e\u8a0a\u606f\u7684\u50b3\u9001\u3002<\/p>\n\n\n\n<p>\u4f46\u9019\u7a2e\u65b9\u6cd5\u6709\u4e00\u500b\u9650\u5236\uff1a<\/p>\n\n\n\n<ul><li>\u6a5f\u5668\u4eba\u9593\u9700\u8981\u5f62\u6210\u300c\u5340\u57df\u7db2\u8def\u300d\u5f8c\uff0cROS\u7cfb\u7d71\u624d\u6709\u8fa6\u6cd5\u900f\u904e\u5404\u81ea\u7684\u672c\u5730IP\u4f4d\u7f6e\u4f86\u5b8c\u6210\u901a\u8a0a\u3002<\/li><\/ul>\n\n\n\n<p>\u82e5\u662f\u60f3\u8981\u591a\u500b\u6a5f\u5668\u4eba\u5728\u300c\u5ba4\u5916\u300d\u4f7f\u7528 ROS \u7cfb\u7d71\uff0c\u5247\u9700\u8981\u8a2d\u5b9a\u300c\u9060\u7a0b ROS 1.0\u7cfb\u7d71\u7db2\u8def\u300d\uff0c\u76f8\u95dc\u8cc7\u8a0a\u53ef\u4ee5\u81f3<a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\/MultipleRemoteMachines\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\"> ROS\u7684\u5b98\u65b9\u6559\u5b78\u7db2\u5740<\/a>\u67e5\u8a62\u3002 <\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u6211\u5011\u9700\u8981\u5148\u5c07\u60f3\u8981\u4f7f\u7528 ROS 1.0 \u7cfb\u7d71\u7684\u6240\u6709\u6a5f\u5668\u4eba\uff0c\u9023\u63a5\u5230\u540c\u4e00\u500b\u5340\u57df\u7db2\u8def\u5f8c\uff0c\u624d\u80fd\u5920\u4f7f\u7528 ROS 1.0 \u7cfb\u7d71\u9032\u884c\u9060\u7aef\u901a\u8a0a\u30021. \u865b\u64ec\u6a5f\u5668 Virtualbox \u7684\u7db2\u8def\u8a2d\u5b9a\u8207\u6e2c\u8a66<\/p>\n\n\n\n<p><em>( \u82e5\u60a8\u4e26\u4e0d\u662f\u4f7f\u7528\u865b\u64ec\u6a5f\u5668\u64cd\u4f5c ROS 1.0 \u7cfb\u7d71\uff0c\u53ef\u4ee5\u76f4\u63a5\u8df3\u5230\u7b2c 2 \u6b65\u9a5f\uff1a\u591a\u53f0\u6a5f\u5668\u904b\u884cROS 1.0 \u7684\u8a2d\u5b9a\u65b9\u6cd5 )<\/em><\/p>\n\n\n\n<p>\u5728 <a href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros03\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">\u7406\u89e3 ROS 1.0 \u6a5f\u5668\u4eba\u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0a)<\/a> \u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u6709\u63d0\u5230\u904e VirtualBox\u7684\u7db2\u8def\u4ecb\u9762\u5361\u8a2d\u5b9a\uff0c\u9810\u8a2d\u7684\u4f7f\u7528\u6a21\u5f0f\u662f \u300cNAT\u300d\uff0c\u9019\u6703\u8b93 VirtualBox\u7121\u6cd5\u8207\u5176\u4ed6\u6a5f\u5668\u901a\u8a0a\u3002\u56e0\u6b64\u82e5\u662f\u60f3\u8981\u4f7f\u7528 VirtualBox \u8207\u591a\u53f0\u6a5f\u5668\u4e00\u540c\u4f7f\u7528 ROS 1.0 \u7cfb\u7d71\u7684\u8a71\uff0c\u7b2c\u4e00\u6b65\u4fbf\u662f\u8981\u66f4\u6539 Virtualbox\u7684\u7db2\u8def\u4ecb\u9762\u5361\u8a2d\u5b9a\u3002<\/p>\n\n\n\n<p>1-1 <\/p>\n\n\n\n<p>\u5148\u9078\u64c7\u60f3\u8981\u4f7f\u7528\u7684\u865b\u64ec\u6a5f\u5668\u5c08\u6848\uff0c\u672c\u6b21\u7bc4\u4f8b\u9078\u64c7 ros_tutorial \u5c08\u6848\uff0c\u958b\u555f\u7db2\u8def\u8a2d\u5b9a\u7684\u756b\u9762 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_7637bee40638469f8c0eee36ddaa40ec~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>Virtualbox \u958b\u555f\u865b\u64ec\u6a5f\u5668\u5c08\u6848\u7684\u7db2\u8def\u8a2d\u5b9a<\/p>\n\n\n\n<p>1-2   <\/p>\n\n\n\n<p>\u5728\u7db2\u8def\u8a2d\u5b9a\u756b\u9762\u4e2d\uff0c\u6211\u5011\u53ef\u4ee5\u767c\u73fe\u5230\u865b\u64ec\u5c08\u6848\u7684\u7db2\u8def\u4ecb\u9762\u5361\u9810\u8a2d\u6a21\u5f0f\u70ba\u300cNAT\u300d\uff0c\u6211\u5011\u9700\u8981\u5c07\u6b64\u9078\u9805\u66f4\u6539\u70ba\u300c\u6a4b\u63a5\u4ecb\u9762\u5361\u300d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_b058ae273c7a49b08465001b599026fd~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u66f4\u6539\u7db2\u8def\u4ecb\u9762\u5361\u9810\u8a2d\u6a21\u5f0f<\/p>\n\n\n\n<p>1-3<\/p>\n\n\n\n<p>\u63a5\u4e0b\u4f86\u6211\u5011\u9700\u8981\u544a\u77e5\u865b\u64ec\u6a5f\u5668\u5c08\u6848\u8981\u6a4b\u63a5\u5be6\u9ad4\u96fb\u8166\u4e2d\u7684\u7db2\u8def\u5361\u540d\u7a31\u3002\u5728\u6b64\u6211\u5011\u9078\u64c7\u5be6\u9ad4\u96fb\u8166\u4e2d\u7684\u7121\u7dda\u7db2\u8def\u5361\u540d\u7a31\u3002\u8acb\u7279\u5225\u6ce8\u610f\uff0c\u6bcf\u53f0\u96fb\u8166\u6240\u914d\u5099\u7684\u7121\u7dda\u7db2\u8def\u5361\u4e0d\u76e1\u76f8\u540c\uff0c\u540d\u7a31\u4e5f\u6703\u6709\u6240\u4e0d\u540c\u3002\u901a\u5e38\u7121\u7dda\u7db2\u8def\u5361\u540d\u7a31\u90fd\u6703\u64c1\u6709 \u300c Wireless \u300d\u5b57\u6a23\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_27bd5a3154174c619732f5b70f059439~mv2.jpg\/v1\/fill\/w_689,h_452,al_c,q_90\/fe1b0a_27bd5a3154174c619732f5b70f059439~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9078\u64c7\u60f3\u8981\u6a4b\u63a5\u7684\u7db2\u8def\u5361\u540d\u7a31<\/p>\n\n\n\n<p>\u64cd\u4f5c\u5230\u9019\u88e1\u70ba\u6b62\uff0c\u865b\u64ec\u6a5f\u5668\u5c08\u6848\u4e2d\u7684\u7db2\u8def\u4ecb\u9762\u5361\u4fbf\u53ef\u4ee5\u900f\u904e\u5be6\u9ad4\u96fb\u8166\u4e2d\u7684\u7121\u7dda\u7db2\u8def\u5361\uff0c\u5411\u5916\u90e8\u7684 AP\u5206\u4eab\u5668\u53d6\u5f97\u4e00\u7d44\u7531\u8a72AP\u5206\u4eab\u5668\u6240\u5206\u914d\u7684 IP\u4f4d\u7f6e\u4e86\u3002<\/p>\n\n\n\n<p>\u9019\u88e1\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5be6\u9ad4\u96fb\u8166\u4e00\u5b9a\u8981\u5148\u9023\u63a5 AP\u5206\u4eab\u5668\uff0cVirtualBox \u624d\u80fd\u5920\u5411 AP\u5206\u4eab\u5668\u53d6\u5f97\u4e00\u7d44 \u672c\u5730 IP\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_87240bde4ae34982bfa35b3f15992f1e~mv2.png\/v1\/fill\/w_688,h_749,al_c,q_90\/fe1b0a_87240bde4ae34982bfa35b3f15992f1e~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>Virtualbox \u4e2d ros_tutorial \u5c08\u6848\u7684\u7db2\u8def\u9023\u63a5\u67b6\u69cb\u793a\u610f\u5716<\/p>\n\n\n\n<p>1-4<\/p>\n\n\n\n<p>\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u5c07\u865b\u64ec\u6a5f\u5668\u555f\u52d5\u5f8c\uff0c\u958b\u555f Terminal \u958b\u59cb\u67e5\u8a62\u865b\u64ec\u6a5f\u5668\u7684\u672c\u5730 IP\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u00d8 \u8f38\u5165\u6307\u4ee4\uff1aifconfig <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_576af331440a4dfb9fc289e7fd240176~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u67e5\u8a62\u865b\u64ec\u6a5f\u5668\u7684\u672c\u5730 IP<\/p>\n\n\n\n<p>\u8f38\u5165\u5b8c\u6210\u5f8c\uff0c\u53ef\u4ee5\u67e5\u8a62\u865b\u64ec\u6a5f\u5668\u76ee\u524d\u70ba\u6b62\uff0c\u95dc\u65bc\u7db2\u8def\u4ecb\u9762\u7684\u72c0\u614b\u3002\u6211\u5011\u53ef\u4ee5\u767c\u73fe\u5230\u95dc\u65bc\u300cenp0s3\u300d\u9019\u5f35\u7db2\u8def\u5361\uff0c\u5df2\u7d93\u64c1\u6709\u4e86\u5f9e AP\u5206\u4eab\u5668\u6240\u5206\u914d\u51fa\u4f86\u7684 IP\u4f4d\u7f6e\uff0c\u672c\u7bc7\u6587\u7ae0\u7bc4\u4f8b\u70ba \u300c 192.168.1.39 \u300d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_b0a30a927f584835b11ff70d8dc51207~mv2.jpg\/v1\/fill\/w_695,h_331,al_c,q_90\/fe1b0a_b0a30a927f584835b11ff70d8dc51207~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u865b\u64ec\u6a5f\u5668 ros_tutroial \u5c08\u6848\u7684\u7db2\u8def\u72c0\u614b\u8cc7\u8a0a<\/p>\n\n\n\n<p>1-5<\/p>\n\n\n\n<p>\u63a5\u8457\u6211\u5011\u4f86\u67e5\u770b\u7b2c\u4e8c\u53f0\u5df2\u5b89\u88dd\u597d ROS\u7cfb\u7d71\u4e4b\u96fb\u8166\u6216\u55ae\u677f\u96fb\u8166\u7684 IP \u4f4d\u7f6e\u3002\u672c\u7bc7\u6587\u7ae0\u5c07\u4ee5\u55ae\u677f\u96fb\u8166<a href=\"https:\/\/www.icshop.com.tw\/product_list.php?1879\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"\u300c\u6a39\u8393\u6d3e3 model B\u300d\u70ba\u7bc4\u4f8b ( \u9ede\u6b64\u67e5\u770b\u8cfc\u8cb7\u8cc7\u8a0a ) (opens in a new tab)\">\u300c\u6a39\u8393\u6d3e3 model B\u300d\u70ba\u7bc4\u4f8b ( \u9ede\u6b64\u67e5\u770b\u8cfc\u8cb7\u8cc7\u8a0a )<\/a>\uff0c\u4e0b\u5716\u70ba\u6a39\u8393\u6d3e3 model B \u958b\u555fTerminal\u8996\u7a97\u5f8c\uff0c\u6240\u986f\u793a\u7684\u4f7f\u7528\u8005\u5e33\u6236\u8cc7\u8a0a\u8207\u4e3b\u6a5f\u540d\u7a31\u3002\u4e26\u4e14\u70ba\u4e86\u65b9\u4fbf\u8207\u865b\u64ec\u6a5f\u5668\u5c08\u6848\u7684 Terminal \u8996\u7a97\u6709\u6240\u5340\u5225\uff0c\u6703\u5728\u53f3\u4e0b\u89d2\u591a\u8cbc\u4e0a\u4e00\u500b\u6a39\u8393\u6d3e\u7684\u5716\u6848\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_e8273dc4d1ba4f54add73371aafb4d34~mv2.jpg\/v1\/fill\/w_699,h_411,al_c,q_90\/fe1b0a_e8273dc4d1ba4f54add73371aafb4d34~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6a39\u8393\u6d3e\u958b\u555f Terminal \u7684\u756b\u9762\u8cc7\u8a0a<\/p>\n\n\n\n<p>1-6<\/p>\n\n\n\n<p>\u5728\u5df2\u88dd\u597d ROS1.0\u7cfb\u7d71\u4e4b\u6a39\u8393\u6d3e3 model B \u4e2d\uff0c\u6211\u5011\u5148\u5c07\u6a39\u8393\u6d3e\u9023\u7dda\u81f3\u6307\u5b9a\u7684 AP\u5206\u4eab\u5668\uff0c\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u60f3\u8981\u4f7f\u7528\u540c\u4e00\u500b ROS\u7cfb\u7d71\u7684\u6240\u6709\u96fb\u8166\u8207\u6a5f\u5668\u4eba\uff0c\u90fd\u9700\u8981\u9023\u63a5\u5230\u540c\u4e00\u500b AP \u5206\u4eab\u5668\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_79ab7d020103458b8258f14f7d5b8818~mv2.png\/v1\/fill\/w_1150,h_744,al_c,q_90\/fe1b0a_79ab7d020103458b8258f14f7d5b8818~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>AP\u5206\u4eab\u5668\u3001\u865b\u64ec\u6a5f\u5668\u3001\u6a39\u8393\u6d3e\u7684\u9023\u7dda\u793a\u610f\u5716<\/p>\n\n\n\n<p>1-7<\/p>\n\n\n\n<p>\u5c07\u6a39\u8393\u6d3e3 model B\u9023\u7dda\u81f3\u6307\u5b9a AP\u5206\u4eab\u5668\u6210\u529f\u5f8c\uff0c\u5728 Terminal \u8996\u7a97\u8f38\u5165 \u300c ifconfig \u300d\u6307\u4ee4\u5f8c\uff0c\u4e00\u6a23\u53ef\u4ee5\u67e5\u770b\u95dc\u65bc\u7db2\u8def\u4ecb\u9762\u7684\u72c0\u614b\u3002\u6a39\u8393\u6d3e3 model B\u4e2d\u5df2\u5177\u5099\u7121\u7dda\u7db2\u8def\u5361\uff0c\u7576\u4f7f\u7528 \u300c ifconfig \u300d\u6307\u4ee4\u67e5\u8a62\u5f8c\uff0c\u53ef\u4ee5\u767c\u73fe\u7121\u7dda\u7db2\u8def\u5361 \u300cwlan0\u300d\u5df2\u7d93\u64c1\u6709\u4e00\u7d44\u7531 AP\u5206\u4eab\u5668\u6307\u6d3e\u7684IP\u4f4d\u7f6e\u3002 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_0c3e2b0c1b454d0698cedaecf97187c8~mv2.jpg\/v1\/fill\/w_642,h_419,al_c,q_90\/fe1b0a_0c3e2b0c1b454d0698cedaecf97187c8~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6a39\u8393\u6d3e\u7684\u7db2\u8def\u72c0\u614b\u8cc7\u8a0a<\/p>\n\n\n\n<p>\u64cd\u4f5c\u5230\u6b64\u6b65\u9a5f\u5f8c\uff0c\u6211\u5011\u5169\u53f0\u96fb\u8166\u4e4b\u9593\u7684\u5340\u57df\u7db2\u8def\u5df2\u7d93\u5f62\u6210\u4e86\uff0c\u76f8\u95dc\u7684\u7db2\u8def\u67b6\u69cb\u5716\u5982\u4e0b\u5716\u6240\u793a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_df6e9590ff30411db269eb7cb58860a0~mv2.png\/v1\/fill\/w_1137,h_742,al_c,q_90\/fe1b0a_df6e9590ff30411db269eb7cb58860a0~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>AP\u5206\u4eab\u5668\u3001\u865b\u64ec\u6a5f\u5668\u3001\u6a39\u8393\u6d3e\u7684\u5340\u57df\u7db2\u8def\u9023\u7dda\u67b6\u69cb\u793a\u610f\u5716<\/p>\n\n\n\n<p>\u4ed4\u7d30\u89c0\u5bdf AP\u5206\u4eab\u5668\u3001 VirtualBox \u8207\u6a39\u8393\u6d3e\u4e4b\u9593\u7684\u64c1\u6709\u7684 IP\uff0c\u6211\u5011\u53ef\u4ee5\u767c\u73fe\u7db2\u57df\u7686\u662f\u300c 192.168.1.X\u300d\uff0c\u9019\u8868\u793a\u6211\u5011\u5df2\u7d93\u5229\u7528 AP\u5206\u4eab\u5668\uff0c\u8b93\u5169\u53f0\u96fb\u8166\u5f62\u6210\u4e00\u500b\u7c21\u55ae\u7684\u5340\u57df\u7db2\u8def\u56c9! <\/p>\n\n\n\n<p>1-8<\/p>\n\n\n\n<p>\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u9700\u8981\u4f7f\u7528 \u300cping \u300d\u6307\u4ee4\uff0c\u4f86\u6e2c\u8a66\u5169\u53f0\u96fb\u8166\u662f\u5426\u80fd\u5920\u6210\u529f\u5730\u9032\u884c\u901a\u8a0a\u3002<\/p>\n\n\n\n<p>\u5728\u865b\u64ec\u6a5f\u5668\u4e0a\uff0c\u6253\u958b Terminal \u8996\u7a97\uff0c\u8f38\u5165\u4e0b\u9762\u7684\u6307\u4ee4\u3002\u9019\u88e1\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u8f38\u5165\u7684 IP \u5fc5\u9808\u8981\u662f \u6a39\u8393\u6d3e\u7684\u672c\u5730 IP \u3002<\/p>\n\n\n\n<p>\u00d8 \u8f38\u5165\u6307\u4ee4\uff1aping 192.168.1.134<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_eb8e27a1828f49739296a79669a364ea~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u865b\u64ec\u6a5f\u5668 ros_tutorial \u8207 \u6a39\u8393\u6d3e\u7684\u9023\u7dda\u6e2c\u8a66\u6210\u529f\u52d5\u756b<\/p>\n\n\n\n<p>\u82e5\u662f\u767c\u73fe\u7121\u6cd5\u6210\u529f\u9023\u7dda\u6642\uff0c\u4e3b\u8981\u554f\u984c\u6709\u4e0b\u9762\u5169\u500b\uff1a<\/p>\n\n\n\n<p>1. \u5be6\u9ad4\u96fb\u8166\u672a\u9023\u63a5\u81f3\u6307\u5b9a\u7684 AP \u5206\u4eab\u5668<\/p>\n\n\n\n<p>2. \u5be6\u9ad4\u96fb\u8166\u7684\u9632\u706b\u7246\u672a\u95dc\u9589\uff0c\u64cb\u4f4f\u865b\u64ec\u6a5f\u5668\u8207\u6a39\u8393\u6d3e\u4e4b\u9593\u7684\u901a\u8a0a<\/p>\n\n\n\n<p>\u82e5\u4e0a\u8ff0\u5169\u500b\u554f\u984c\u6392\u9664\u5f8c\uff0c\u9023\u7dda\u6e2c\u8a66\u4ecd\u820a\u662f\u5931\u6557\u7684\uff0c\u53ef\u4ee5\u8003\u616e\u8b93\u865b\u64ec\u6a5f\u5668\u639b\u8f09\u4e00\u500b USB \u578b\u7121\u7dda\u7db2\u8def\u5361 \uff0c\u5728\u9019\u88e1\u63a8\u85a6\u6b64\u578b\u865f\u4e4b USB\u7121\u7dda\u7db2\u8def\u5361\u3000: <a href=\"https:\/\/www.icshop.com.tw\/product-page.php?25876\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"EDIMAX EW-7822ULC ( \u9ede\u6b64\u67e5\u770b\u8cfc\u8cb7\u8cc7\u8a0a ) (opens in a new tab)\">EDIMAX EW-7822ULC ( \u9ede\u6b64\u67e5\u770b\u8cfc\u8cb7\u8cc7\u8a0a )<\/a>\u3002<\/p>\n\n\n\n<p>\u82e5\u6e2c\u8a66\u9023\u7dda\u6210\u529f\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u958b\u59cb\u9032\u884c\u591a\u53f0\u6a5f\u5668\u904b\u884cROS 1.0 \u7684\u8a2d\u5b9a\u65b9\u6cd5\u56c9!<\/p>\n\n\n\n<p>2-0<\/p>\n\n\n\n<p>\u591a\u53f0\u6a5f\u5668\u904b\u884c ROS 1.0\u7684\u8a2d\u5b9a\u65b9\u6cd5<\/p>\n\n\n\n<p>\u7576\u6240\u6709\u6a5f\u5668\u4eba\u90fd\u8655\u5728\u540c\u4e00\u500b\u5340\u57df\u7db2\u8def\u6642\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u958b\u59cb\u7de8\u8f2f Terminal \u7684\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u3002\u5728\u6b64\u4e4b\u524d\uff0c\u6211\u5011\u53ef\u4ee5\u5148\u5c07\u5404\u500b\u6a5f\u5668\u4eba\u7684 \u672c\u5730IP\u4f4d\u7f6e\uff0c\u653e\u5165\u4e00\u958b\u59cb\u63d0\u53ca\u7684\u5728\u591a\u53f0\u6a5f\u5668\u4e0a\u904bROS 1.0\u7cfb\u7d71\u7db2\u8def\u67b6\u69cb\u5716\uff0c\u8b93\u81ea\u5df1\u77e5\u9053 ROS 1.0\u7cfb\u7d71\u9032\u884c\u9060\u7aef\u8a0a\u606f\u50b3\u8f38\u6642\u7684\u72c0\u614b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_751283778e0a43f6a8e52903b0e139b1~mv2.png\/v1\/fill\/w_958,h_715,al_c,q_90\/fe1b0a_751283778e0a43f6a8e52903b0e139b1~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u7bc4\u4f8b\u591a\u53f0\u6a5f\u5668\u904b\u884c ROS 1.0 \u7cfb\u7d71\u6642\u7684\u72c0\u614b<\/p>\n\n\n\n<p>\u6211\u5011\u9700\u8981\u5148\u6c7a\u5b9a\u54ea\u4e00\u500b\u6a5f\u5668\u4eba\u70ba Master \uff0c\u4ee5\u4e0a\u65b9\u7684\u67b6\u69cb\u793a\u610f\u5716\u70ba\u4f8b\uff0c\u662f\u7531\u865b\u64ec\u6a5f\u5668\u8a3b\u518a\u4e00\u500b Master \uff0c\u4e4b\u5f8c\u6240\u6709\u7684\u8a0a\u606f\u7686\u7531\u9019\u500b Master \u4f86\u7ba1\u7406\u63a5\u6536\u8207\u767c\u653e\u8a0a\u606f\u3002<\/p>\n\n\n\n<p>2-1  \u7de8\u8f2f\u865b\u64ec\u6a5f\u5668\u7aef\u7684\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94 <\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u6211\u5011\u5148\u958b\u8d77\u865b\u64ec\u6a5f\u5668\u4e0a\u7684 Terminal \uff0c\u8f38\u5165\u6307\u4ee4\u9032\u5165\u5176\u4e2d\u7684\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u3002<\/p>\n\n\n\n<p>\u00d8 \u4f7f\u7528 gedit \u7de8\u8f2f\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u6307\u4ee4\uff1asudo gedit ~\/.bashrc <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_3f87d1fb2f524f6fb750989201dd7498~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u958b\u555f\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u52d5\u756b<\/p>\n\n\n\n<p>2-2<\/p>\n\n\n\n<p>\u958b\u555f\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u5f8c\uff0c\u5728\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u6700\u4e0b\u65b9\u52a0\u5165\u5169\u884c\u6307\u4ee4<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_370292b74f8046f08440083f9d35c696~mv2.png\/v1\/fit\/w_300,h_300,al_c,q_5\/file.png\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_370292b74f8046f08440083f9d35c696~mv2.png\/v1\/fill\/w_429,h_36,al_c,q_90\/fe1b0a_370292b74f8046f08440083f9d35c696~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u865b\u64ec\u6a5f\u5668\u7aef\u65b0\u589e\u7684\u74b0\u5883\u8b8a\u6578\u6307\u4ee4<\/p>\n\n\n\n<p>\u52d5\u756b\u793a\u610f\u5716\u5982\u4e0b <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_96213911a6bf477dac6aeb73019effb6~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u6700\u4e0b\u65b9\u52a0\u5165\u5169\u884c\u6307\u4ee4<\/p>\n\n\n\n<ul><li>export ROS_MASTER_URI \uff1a \u6b64\u884c\u8b8a\u6578\u5373\u662f\u544a\u77e5 ROS 1.0\u7cfb\u7d71\u5c07\u6703\u7531\u54ea\u4e00\u53f0\u6a5f\u5668\u8a3b\u518a Master<\/li><li>export ROS_HOSTNAME  \uff1a \u6b64\u884c\u8b8a\u6578\u5373\u662f\u544a\u77e5 ROS 1.0 \u7cfb\u7d71\u672c\u53f0\u6a5f\u5668\u7684\u672c\u5730IP<\/li><\/ul>\n\n\n\n<p> \u7de8\u8f2f\u597d\u865b\u64ec\u6a5f\u5668\u7684Terminal\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u5132\u5b58\u95dc\u9589\uff0c\u4e26\u4e14\u91cd\u65b0\u555f\u52d5 Terminal\u3002 <\/p>\n\n\n\n<p>2-3 \u7de8\u8f2f\u6a39\u8393\u6d3e\u7684\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94<\/p>\n\n\n\n<p>\u63a5\u4e0b\u4f86\u6211\u5011\u8981\u7de8\u8f2f\u7684\u662f\u6a39\u8393\u6d3e\u7684 Terminal \u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\uff0c\u9996\u5148\u4e00\u6a23\u5728\u6a39\u8393\u6d3e\u7684 Terminal \u8996\u7a97\u8f38\u5165\u6307\u4ee4\u9032\u5165\u6a39\u8393\u6d3e\u7684\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\uff0c\u96a8\u5f8c\u5728\u74b0\u5883\u8b8a\u6578\u8a2d\u5b9a\u6a94\u4e0b\u65b9\u52a0\u5165\u5169\u884c\u6307\u4ee4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_6ef9a7c25beb4fa2a04bcb49ba69614a~mv2.png\/v1\/fill\/w_431,h_35,al_c,q_90\/fe1b0a_6ef9a7c25beb4fa2a04bcb49ba69614a~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6a39\u8393\u6d3e\u7aef\u65b0\u589e\u7684\u74b0\u5883\u8b8a\u6578\u6307\u4ee4<\/p>\n\n\n\n<p>\u9700\u8981\u7279\u5225\u6ce8\u610f\u7684\u662f\u8b8a\u6578 ROS_MASTER_URI \u6307\u5b9a\u7684\u662f\u8a3b\u518a Master \u7684\u6a5f\u5668\u672c\u5730IP\u4f4d\u7f6e\uff0c\u5728\u672c\u7bc7\u6587\u7ae0\u7bc4\u4f8b\u4e2d\u5373\u662f\u865b\u64ec\u6a5f\u5668\uff1b\u800c\u8b8a\u6578 ROS_HOSTNAME \u5247\u662f\u8f38\u5165\u6a39\u8393\u6d3e\u7aef\u7684\u672c\u5730 IP\u4f4d\u7f6e\u3002\u7de8\u8f2f\u5b8c\u6210\u5f8c\u7684\u7d50\u679c\u5982\u4e0b\u5716\u6240\u793a <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_d110b0d76d154a61bcb6f00cb815afe7~mv2.jpg\/v1\/fill\/w_708,h_500,al_c,q_90\/fe1b0a_d110b0d76d154a61bcb6f00cb815afe7~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p> \u78ba\u8a8d\u7de8\u8f2f\u7684\u74b0\u5883\u8b8a\u6578\u6c92\u6709\u554f\u984c\u5f8c\uff0c\u4fbf\u53ef\u5132\u5b58\u95dc\u9589\u6a94\u6848\u56c9!  3. \u865b\u64ec\u6a5f\u5668\u9060\u7aef\u9059\u63a7\u6a39\u6885\u6d3e\u4e0a\u7684\u5c0f\u70cf\u9f9c\u6e2c\u8a66 <\/p>\n\n\n\n<p>\u5c07\u4e0a\u8ff0\u5169\u500b\u6e96\u5099\u6b65\u9a5f\u5b8c\u6210\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u958b\u59cb\u9032\u884c\u5c0f\u70cf\u9f9c\u7684\u6e2c\u8a66\u4e86!<\/p>\n\n\n\n<p>\u6e2c\u8a66\u7684\u65b9\u6cd5\u975e\u5e38\u7c21\u55ae\uff0c\u5728\u6a39\u8393\u6d3e\u4e0a\u958b\u555f\u5c0f\u70cf\u9f9c\u7684\u7bc0\u9ede\u5f8c\uff0c\u518d\u81f3\u865b\u64ec\u6a5f\u5668\u7aef\u958b\u8d77\u79fb\u52d5\u7684\u7bc0\u9ede\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u4f7f\u7528\u865b\u64ec\u6a5f\u5668\u7684\u9375\u76e4\u6307\u4ee4\uff0c\u9060\u7aef\u9059\u63a7\u6a39\u8393\u6d3e\u4e0a\u7684\u5c0f\u70cf\u9f9c\u5594! <\/p>\n\n\n\n<p>\u8a73\u7d30\u7684\u64cd\u4f5c\u6b65\u9a5f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>3-1  \u865b\u64ec\u6a5f\u5668 ros_tutorial \u5148\u5728\u5340\u57df\u7db2\u8def\u4e0a\u8a3b\u518a\u4e00\u500b Master <\/p>\n\n\n\n<p>\u00d8\u8a3b\u518a Master \u6307\u4ee4 : roscore<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_6c6a36b48b824d18a1c31c94b7e3abfb~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u865b\u64ec\u6a5f\u5668 ros_tutroial \u8a3b\u518a Master<\/p>\n\n\n\n<p>3-2  \u6a39\u8393\u6d3e\u7aef\u57f7\u884c turtlesim_node \u7bc0\u9ede <\/p>\n\n\n\n<p>\u00d8 \u57f7\u884c turtlesim_node \u7bc0\u9ede \u6307\u4ee4 : rosrun turtlesim turtlesim_node<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_5458a8c876c04af5802a0055b381f3cf~mv2.jpg\/v1\/fill\/w_697,h_419,al_c,q_90\/fe1b0a_5458a8c876c04af5802a0055b381f3cf~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6a39\u8393\u6d3e\u7aef\u57f7\u884c turtlesim_node \u7bc0\u9ede <\/p>\n\n\n\n<p>3-3  \u865b\u64ec\u6a5f\u5668\u57f7\u884c turtle_teleop_key \u7bc0\u9ede <\/p>\n\n\n\n<p>\u00d8 \u57f7\u884c turtle_teleop_key \u7bc0\u9ede \u6307\u4ee4 : 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_8f5a668ceffc4c7c8e3dea1e54537667~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u865b\u64ec\u6a5f\u5668\u57f7\u884c turtle_teleop_key \u7bc0\u9ede<\/p>\n\n\n\n<p>3-4 \u9060\u7aef\u9059\u63a7\u5c0f\u70cf\u9f9c!<\/p>\n\n\n\n<p>\u5728\u865b\u64ec\u6a5f\u5668\u4e0a\u57f7\u884c turtle_teleop_key \u7bc0\u9ede\u7684 terminal \u6309\u4e0b\u65b9\u5411\u9375\uff0c\u958b\u59cb\u63a7\u5236\u6a39\u6885\u6d3e\u4e0a\u7684\u5c0f\u70cf\u9f9c\u5427!! <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_02bd529a3940459fa11f9ddac1d71c7a~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u865b\u64ec\u6a5f\u5668\u9060\u7aef\u9059\u63a7\u6a39\u8393\u6d3e\u7684\u5c0f\u70cf\u9f9c\u672c\u7bc7\u7bc4\u4f8b\u6587\u7ae0\u5c0f\u7d50<\/p>\n\n\n\n<p>ROS 1.0 \u7cfb\u7d71\u5176\u5be6\u662f\u900f\u904e\u5728 terminal \u7684\u74b0\u5883\u8b8a\u6578 ROS_MASTER_URI \u8207 ROS_HOSTNAME \uff0c\u4f86\u6c7a\u5b9a\u8981\u5411\u54ea\u4e00\u53f0\u6a5f\u5668\u6240\u8a3b\u518a\u7684 Master \u767c\u5e03\u8207\u8a02\u95b1 \u5404\u7a2e\u8a0a\u606f \u3002\u53ea\u8981\u80fd\u5920\u719f\u7df4\u5730\u61c9\u7528\u9019\u9805\u6280\u5de7\uff0c\u4fbf\u53ef\u4ee5\u958b\u59cb\u9032\u4e00\u6b65\u5730\u4f7f\u7528 ROS1.0 \u7684\u5404\u7a2e Package \uff0c\u4f86\u6253\u9020\u5c6c\u65bc\u81ea\u5df1\u7684\u6a5f\u5668\u4eba\u7cfb\u7d71\u56c9!<\/p>\n\n\n\n<p>\u5c0f\u5c0f\u9810\u544a\u4e00\u4e0b\uff0c\u4e0b\u4e00\u7bc7\u6587\u7ae0\u5c0f\u7de8\u9810\u8a08\u8981\u4f7f\u7528\u300c\u8072\u97f3\u300d\uff0c\u4f86\u63a7\u5236\u5c0f\u70cf\u9f9c\u8207\u4e00\u53f0\u771f\u6b63\u7684\u5168\u5411\u8f2a\u5e73\u53f0 &#8211; \u300c\u667a\u6167\u6a5f\u5668\u4eba\u300d\u5594  ! !<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u958b\u59cb\u95b1\u8b80\u672c\u7bc7\u6587\u7ae0\u524d\uff0c\u8acb\u5148\u78ba\u8a8d\u5b8c\u6210\u4e0b\u5217\u4e8b\u9805\uff1a \u6e96\u5099\u597d\u5169\u53f0\u5df2\u5b89\u88dd ROS 1.0 \u7cfb\u7d71\u4e4b\u500b\u4eba\u96fb\u8166\u6216\u55ae\u677f\u96fb\u8166\uff0c\u5b89\u88dd [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":8811,"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\/809"}],"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=809"}],"version-history":[{"count":7,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/809\/revisions"}],"predecessor-version":[{"id":9527,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/809\/revisions\/9527"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/8811"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=809"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=809"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=809"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=809"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}