{"id":811,"date":"2019-07-02T11:39:02","date_gmt":"2019-07-02T03:39:02","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=811"},"modified":"2022-08-02T17:24:43","modified_gmt":"2022-08-02T09:24:43","slug":"ros05","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros05\/","title":{"rendered":"\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 &#8211; \u5165\u9580\u6559\u5177\u9739\u9742\u8eca \u5f71\u50cf\u8fa8\u8b58\u7d44"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/01\/20210104-\u7121\u4eba\u81ea\u99d5\u8eca\u5f71\u50cf\u8fa8\u8b58\u7cfb\u7d71_\u8f15\u9b06\u61c9\u7528ROS\u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71-2.jpg\" alt=\"\" class=\"wp-image-8805\" width=\"1241\" height=\"650\"\/><\/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>\u8fd1\u5e7e\u5e74\u4f86\uff0c\u958b\u6e90\u7684\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71 &#8211; ROS( Robot Operating System )\uff0c\u9010\u6f38\u5730\u88ab\u4e16\u754c\u5404\u5730\u7684\u958b\u767c\u8207\u7814\u7a76\u4eba\u54e1\u63a1\u7528\uff0c ROS\u7cfb\u7d71\u7684\u4ecb\u7d39\u53ef\u4ee5\u53c3\u8003\u672c\u7bc7\u6587\u7ae0-\u300c<a href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros01\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">55\u5bb6\u4ee5\u4e0a\u4e16\u754c\u7d1a\u4f01\u696d\u4f7f\u7528\u7684\u6a5f\u5668\u4eba\u7cfb\u7d71 &#8211; ROS\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71\u4ecb\u7d39<\/a>\u300d\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u82e5\u662f\u80fd\u5920\u5b78\u6703\u5982\u4f55\u4f7f\u7528 ROS \u7cfb\u7d71\uff0c\u76f8\u4fe1\u5c0d\u65bc\u60f3\u7372\u5f97\u4e0a\u8ff0\u4ecb\u7d39\u6587\u7ae0\u6240\u63d0\u53ca\u4f01\u696d\u4e4b\u5de5\u4f5c\u6a5f\u6703\u7684\u4f60\uff0c\u6703\u662f\u4e00\u500b\u52a0\u5206\u9805\u76ee\u975e\u5e38\u5927\u7684\u6280\u8853\u3002<\/p>\n\n\n\n<p>ROS\u7cfb\u7d71\u662f\u4e00\u500b\u958b\u6e90\u7684\u7cfb\u7d71\uff0c\u7db2\u8def\u4e0a\u64c1\u6709\u773e\u591a\u7684\u5b78\u7fd2\u8cc7\u6e90\u3002\u6700\u7d93\u5178\u7684\u4e0d\u5916\u4e4e\u662f ROS\u7cfb\u7d71\u7684\u5b98\u65b9\u6559\u5b78\u6587\u4ef6 &#8211; \u300c <a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\" target=\"_blank\" rel=\"noreferrer noopener\">ROS tutorial<\/a> \u300d\u3002\u5728\u5b98\u65b9\u6559\u5b78\u6587\u4ef6\u4e2d\uff0c\u4f60\u5c07\u53ef\u4ee5\u5b78\u7fd2\u5230\u57fa\u790e\u7684 ROS\u7cfb\u7d71\u64cd\u4f5c\u65b9\u5f0f\u3002\u7136\u800c\uff0c\u7576\u5b78\u7fd2\u5230\u4e00\u5b9a\u7a0b\u5ea6\u6642\uff0c\u5927\u90e8\u5206\u7684\u4eba\u90fd\u6703\u7522\u751f\u4e00\u7a2e\u60f3\u6cd5\uff1a\u300c\u82e5\u662f\u55ae\u7d14\u5730\u5728\u96fb\u8166\u4e2d\u64cd\u4f5c\uff0c\u800c\u6c92\u6709\u5be6\u9ad4\u7684\u6a5f\u53f0\u6e2c\u8a66\uff0c\u7e3d\u611f\u89ba\u9084\u662f\u6c92\u6709\u5b78\u6703 ROS\u7cfb\u7d71\u300d\u3002 <\/p>\n\n\n\n<p>\u70ba\u6b64\uff0cCIRCUS Pi \u7279\u5225\u8a2d\u8a08\u4e86\u4e00\u6b3e\u5165\u9580\u7d1a\u7684\u6559\u5177 &#8211; \u300c\u9739\u9742\u8eca\u300d\uff0c\u4f86\u5e6b\u52a9\u4f60\u66f4\u5feb\u7684\u5b78\u597d ROS\u7cfb\u7d71\u5594!    \u300c ROS\u5b98\u65b9\u6559\u5b78\u6587\u4ef6\u5b78\u6703\u57fa\u790e\u64cd\u4f5c\u5f8c\uff0c\u4e0b\u4e00\u6b65\u61c9\u8a72\u8981\u5b78\u7fd2\u4ec0\u9ebc? \u300d<\/p>\n\n\n\n<p>\u7576ROS\u5b98\u65b9\u6559\u5b78\u6587\u4ef6\u5168\u90e8\u5b8c\u6210\u5f8c\uff0c\u76f8\u4fe1\u4f60\u5c0d\u65bc Linux \u7cfb\u7d71\u4ee5\u53ca ROS \u7cfb\u7d71\u61c9\u7576\u90fd\u6703\u6709\u521d\u6b65\u7684\u7406\u89e3\u4e86\u3002\u63a5\u4e0b\u4f86\u7684\u5b78\u7fd2\uff0c CIRCUS Pi  \u5efa\u8b70\u7684\u662f<\/p>\n\n\n\n<ul><li> \u300c\u5b78\u7fd2\u81ea\u884c\u8a2d\u8a08 ROS\u7cfb\u7d71\uff0c\u5b8c\u6210\u7c21\u55ae\u7684\u64cd\u63a7 GPIO \u529f\u80fd\u300d<\/li><\/ul>\n\n\n\n<p>\u8a71\u96d6\u5982\u6b64\uff0c\u4f46\u82e5\u662f\u96fb\u8166\u76f4\u63a5\u63a5\u4e0a Arduino \u7b49\u5fae\u63a7\u5236\u5668\uff0c\u5b78\u7fd2\u5982\u4f55\u900f\u904e ROS\u7cfb\u7d71\u64cd\u63a7 GPIO\uff0c\u4e5f\u5c07\u6703\u8b93 ROS \u7cfb\u7d71\u7684\u7121\u7dda\u901a\u8a0a\u529f\u80fd\u5931\u53bb\u610f\u7fa9\u3002\u56e0\u6b64\uff0c\u5728\u5b78\u7fd2\u6b64\u9805\u76ee\u6642\uff0c\u5229\u7528\u53ef\u4ee5\u5b89\u88dd ROS\u7cfb\u7d71\u3001\u9644\u6709 GPIO\u8173\u4f4d\u7684\u55ae\u677f\u96fb\u8166\u5c07\u6703\u662f\u8f03\u597d\u7684\u9078\u64c7\u3002 <\/p>\n\n\n\n<p>\u56e0\u6b64\u9739\u9742\u8eca\u4e5f\u662f\u63a1\u7528\u6b64\u7a2e\u898f\u683c\u7684\u55ae\u677f\u96fb\u8166\u3002\u9739\u9742\u8eca\u4e0a\u7684\u55ae\u677f\u96fb\u8166<\/p>\n\n\n\n<ol><li>\u4f5c\u696d\u7cfb\u7d71\u70ba Ubuntu 16.04 LTS \uff0c\u958b\u6e90\u7684\u4f5c\u696d\u7cfb\u7d71\u8b93\u4f60\u4e0d\u7169\u60f1\u6388\u6b0a\u554f\u984c<\/li><li> \u786c\u789f\u7a7a\u9593\u5927\u5c0f\u70ba 16GB\uff0c\u4e26\u4e14\u53ef\u96a8\u6642\u66f4\u63db\u786c\u789f\u7a7a\u9593<\/li><li> \u642d\u8f09\u7684ROS\u7cfb\u7d71\u7248\u672c\u70ba Kinetic <\/li><li> \u914d\u5099\u591a\u90544\u500b USB\u63a5\u53e3\u30011\u500b\u4e59\u592a\u7db2\u8def\u63a5\u53e3\uff0c40\u500b GPIO\u8173\u4f4d\uff0c\u64f4\u5c55\u6027\u5f37\u97cc<\/li><li>\u4f7f\u7528 HDMI \u4f5c\u70ba\u87a2\u5e55\u8f38\u51fa\uff0c\u7e2e\u5c0f\u9ad4\u7a4d<\/li><li>\u64c1\u6709 wifi \u8207\u85cd\u82bd\u529f\u80fd\uff0c\u8b93\u7121\u7dda\u901a\u8a0a\u8b8a\u5f97\u66f4\u52a0\u65b9\u4fbf<\/li><\/ol>\n\n\n\n<p>\u56e0\u9739\u9742\u8eca\u4f5c\u696d\u7cfb\u7d71\u63a1\u7528<a href=\"https:\/\/www.ubuntu-tw.org\/modules\/tinyd0\/\">Ubuntu 16.04 LTS<\/a> \uff0c \u8b93\u4f60\u9664\u4e86\u5b78\u7fd2\u4f7f\u7528 ROS\u7cfb\u7d71\u4e4b\u5916\uff0c\u4e5f\u80fd\u5920\u65b9\u4fbf\u7684\u4f7f\u7528\u6642\u4e0b\u6700\u592f\u7684\u7a0b\u5f0f\u8a9e\u8a00\u300c Python \u300d\uff0c\u4f86\u5b78\u7fd2 GPIO \u5594!<\/p>\n\n\n\n<p>\u66f4\u4ee4\u4eba\u8208\u596e\u7684\u662f\uff0c\u4f60\u4e5f\u53ef\u4ee5\u900f\u904e\u8a2d\u7f6e\u96fb\u8166\u8207\u9739\u9742\u8eca\u4e4b\u9593\u7684\u5340\u57df\u7db2\u8def\uff0c\u5b78\u7fd2<a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\/MultipleMachines\" target=\"_blank\" rel=\"noreferrer noopener\">\u300c \u5982\u4f48\u7f72 ROS\u7cfb\u7d71\u81f3\u591a\u53f0\u6a5f\u5668\uff0c\u5f62\u6210\u591a\u53f0\u6a5f\u5668\u7684\u7121\u7dda\u901a\u8a0a\u300d<\/a>\u3002 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_fa21df8221ce44d3922048f091419cd6~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5229\u7528 ROS \u7cfb\u7d71\u9060\u7aef\u9059\u63a7\u9739\u9742\u8eca\u5f71\u50cf\u8fa8\u8b58\u7d44\u9644\u6709\u7684 GPIO \u8173\u4f4d \u300c \u6211\u5df2\u7d93\u77e5\u9053\u4e86\u5982\u4f55\u900f\u904e ROS\u7cfb\u7d71\u64cd\u63a7 GPIO \u529f\u80fd\uff0c\u90a3\u9ebc\u6211\u8a72\u5982\u4f55\u5229\u7528ROS\u7cfb\u7d71 \uff0c\u81ea\u884c\u8a2d\u8a08\u79fb\u52d5\u5e73\u53f0\u5462? \u300d <\/p>\n\n\n\n<p>\u7576\u6211\u5011\u53ef\u4ee5\u900f\u904e ROS\u7cfb\u7d71\u64cd\u63a7 GPIO \u529f\u80fd\u4e4b\u5f8c\uff0c\u63a5\u4e0b\u4f86\u6700\u60f3\u73a9\u7684\u83ab\u904e\u65bc\u662f\u4e00\u53f0\u53ef\u4ee5\u81ea\u5df1\u9059\u63a7\u7684\u79fb\u52d5\u5e73\u53f0\u5566!\u70ba\u4e86\u5b8c\u6210\u9019\u500b\u76ee\u6a19\uff0cCIRCUS Pi \u5728\u9739\u9742\u8eca\u539f\u6709\u7684\u55ae\u677f\u96fb\u8166\u4e0a\uff0c\u64f4\u5145\u4e86\u4e00\u500b\u99ac\u9054\u63a7\u5236\u677f\uff0c\u8b93\u4f60\u4e0d\u5fc5\u518d\u7169\u60f1\u79fb\u52d5\u5e73\u53f0\u7684\u786c\u9ad4\u914d\u7f6e\uff0c\u76f4\u63a5\u7121\u75db\u63a5\u8ecc\u7684\u5f9e\u7c21\u55ae\u64cd\u63a7 GPIO \u529f\u80fd\uff0c\u5347\u7d1a\u81f3\u53ef\u4ee5\u9060\u7aef\u9059\u63a7\u7684\u79fb\u52d5\u5e73\u53f0\u5594! <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_97935e3904cf4821be9b7b430f9d9d4d~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5229\u7528\u6416\u687f\u9059\u63a7\u9739\u9742\u8eca \u8fd1\u5e7e\u5e74\u4eba\u5de5\u667a\u6167\u6280\u8853\u8d8a\u4f86\u8d8a\u592f\uff0c\u5982\u4f55\u5c07\u4eba\u5de5\u667a\u6167\u8207 ROS\u7cfb\u7d71\u7d50\u5408\u8d77\u4f86\u5462? \u300d <\/p>\n\n\n\n<p>\u60f3\u8981\u4e86\u89e3\u4eba\u5de5\u667a\u6167\u662f\u5426\u80fd\u5920\u8207 ROS\u7cfb\u7d71\u7d50\u5408\uff0c\u6211\u5011\u9700\u8981\u5148\u7406\u89e3\u76ee\u524d\u5f88\u592f\u7684\u300c\u4eba\u5de5\u667a\u6167\u300d\u6280\u8853\u5230\u5e95\u662f\u4ec0\u9ebc\u3002\u4eba\u5de5\u667a\u6167\u6280\u8853\u7684\u7206\u767c\uff0c \u8d77\u56e0\u70ba 2010 \u5e74\u958b\u59cb\u5275\u8fa6\u7684\u5716\u50cf\u8fa8\u8b58\u7af6\u8cfd &#8211; Large Scale Visual Recognition Challenge (ILSVRC)\u3002<\/p>\n\n\n\n<p>\u57282012\u5e74\u6642\uff0c SuperVision \u7684\u968a\u4f0d\u4ee5 16.42% \u7684\u932f\u8aa4\u7387\u9060\u52dd\u7b2c\u4e8c\u540d\u7684 26.22%\uff0c\u63a1\u7528\u7684\u662f\u4eba\u5de5\u667a\u6167\u4e2d\u7684\u6df1\u5ea6\u5b78\u7fd2\u6280\u8853\u3002\u5f9e\u6b64\u523b\u958b\u59cb\uff0c\u4e16\u754c\u5728\u4eba\u5de5\u667a\u6167\u7814\u7a76\u7684\u65b9\u5411\u958b\u59cb\u8f49\u70ba\u6df1\u5ea6\u5b78\u7fd2\u6280\u8853\uff0c\u6700\u7d93\u5178\u7684\u6848\u4f8b\u5373\u70ba2016\u5e74AlphaGo\u4ee5\u6975\u5927\u7684\u5dee\u8ddd\u64ca\u6557\u7576\u6642\u4eba\u985e\u7684\u4e16\u754c\u570d\u68cb\u51a0\u8ecd ( <a href=\"https:\/\/theinitium.com\/article\/20160309-dailynews-alphago\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u76f8\u95dc\u5831\u5c0e\u8acb\u6309\u6b64\u8655\u958b\u555f\u9023\u7d50<\/a> )\u3002<\/p>\n\n\n\n<p>\u90a3\u9ebc\uff0c\u6211\u5011\u61c9\u5982\u4f55\u5b78\u7fd2\u5c07\u4eba\u5de5\u667a\u6167\u6280\u8853\u8207 ROS\u7cfb\u7d71\u7d50\u5408\u8d77\u4f86\u5462?\u70ba\u6b64\uff0c CIRCUS Pi  \u6c7a\u5b9a\u63a1\u7528\u300c\u81ea\u52d5\u99d5\u99db\u8207\u5f71\u50cf\u8fa8\u8b58\u6982\u5ff5\u300d\u5e6b\u52a9\u4f60\u5b78\u7fd2\u3002\u5728\u9739\u9742\u8eca\u4e0a\uff0c CIRCUS Pi  \u914d\u7f6e\u4e86\u4e00\u500b 800\u842c\u50cf\u7d20\u7684\u93e1\u982d\uff0c\u8b93\u4f60\u80fd\u5920\u900f\u904e\u6b64\u93e1\u982d\uff0c\u642d\u914d\u4f7f\u7528 ROS\u7684\u958b\u6e90\u7a0b\u5f0f\u78bc\uff0c\u5b78\u7fd2\u5f71\u50cf\u8fa8\u8b58\u7684\u4eba\u5de5\u667a\u6167\u6280\u8853\u5594!<\/p>\n\n\n\n<p>\u9664\u6b64\u4e4b\u5916\uff0c\u9739\u9742\u8eca\u672c\u8eab\u4e5f\u662f\u4e00\u500b\u79fb\u52d5\u5e73\u53f0\uff0c\u56e0\u6b64\u53ef\u4ee5\u900f\u904e\u300c\u5f71\u50cf\u8fa8\u8b58\u300d\u8207\u300c\u79fb\u52d5\u5e73\u53f0\u300d\u7d50\u5408\uff0c\u642d\u914d\u4f7f\u7528 ROS\u7684\u958b\u6e90\u7a0b\u5f0f\u78bc\uff0c\u5b78\u7fd2\u57fa\u790e\u7684\u81ea\u52d5\u99d5\u99db\u5e73\u53f0 &#8211; \u300c \u5f71\u50cf\u8fa8\u8b58\u9053\u8def\u99d5\u99db \u300d\u5594! <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_5fc0c128f1a34b028c4ab72bee2939cc~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9739\u9742\u8eca\u5f71\u50cf\u8fa8\u8b58\u9053\u8def\u884c\u99db\u4e2d\u300c \u9019\u9ebc\u591a\u529f\u80fd\u53ef\u4ee5\u4f7f\u7528\u7684\u6559\u5b78\u8a2d\u5099\uff0c\u662f\u5426\u96fb\u6c60\u4e5f\u662f\u63a1\u7528\u7279\u6b8a\u898f\u683c\u7684\u5462?\u82e5\u662f\u5982\u6b64\u7684\u8a71\uff0c\u96fb\u6e90\u7d44\u90e8\u5206\u4e5f\u662f\u4e00\u500b\u5f88\u5927\u7684\u554f\u984c\u5462? \u300d<\/p>\n\n\n\n<p>\u76ee\u524d\u5f88\u591a\u7684\u6559\u5b78\u8a2d\u5099\u90fd\u64c1\u6709\u81ea\u5df1\u7368\u7acb\u4e14\u7279\u6b8a\u7684\u96fb\u6e90\u7d44\uff0c\u751a\u81f3\u4e00\u53f0\u6559\u5b78\u8a2d\u5099\u4e0a\u53ef\u80fd\u9084\u6703\u64c1\u6709\u5169\u7d44\u4ee5\u4e0a\u7684\u96fb\u6e90\u7d44\uff0c\u9019\u8b93\u5b78\u54e1\u5011\u60f3\u8981\u70ba\u985e\u4f3c\u7684\u6559\u5b78\u8a2d\u5099\u5145\u96fb\u6642\uff0c\u9084\u9700\u8981\u518d\u984d\u5916\u8cfc\u8cb7\u76f8\u5c0d\u61c9\u7684\u5145\u96fb\u7d44\u96f6\u4ef6\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64 CIRCUS Pi  \u70ba\u4e86\u7c21\u5316\u6574\u500b\u6559\u5b78\u8a2d\u5099\u7684\u6a19\u6e96\u914d\u5099\uff0c\u4e5f\u70ba\u4e86\u6e1b\u5c11\u5b78\u54e1\u5011\u5145\u96fb\u6642\u7684\u4e0d\u65b9\u4fbf\uff0c\u7279\u5225\u9078\u7528\u76ee\u524d\u4e00\u822c\u5bb6\u5ead\u90fd\u6703\u6709\u7684\u300c\u884c\u52d5\u96fb\u6e90\u7d44\u300d\uff0c\u7576\u4f5c\u9739\u9742\u8eca\u7684\u96fb\u529b\u4f86\u6e90\u5594!\u8b93\u5b78\u54e1\u5011\u4e0d\u5fc5\u518d\u7169\u60f1\u5145\u96fb\u6642\u9084\u9700\u8981\u984d\u5916\u5145\u96fb\u5668\u7684\u554f\u984c\uff0c\u53ea\u8981\u62ff\u8d77\u4e00\u822c\u667a\u6167\u578b\u624b\u6a5f\u7684\u5145\u96fb\u5668 ( 5V\u96fb\u58d3 )\uff0c\u5373\u53ef\u8f15\u9b06\u5730\u5e6b\u9739\u9742\u8eca\u7684\u884c\u52d5\u96fb\u6e90\u7d44\u5145\u96fb\u56c9! <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_a6758c25b1984df0bb7330d0a9f337a8~mv2.jpg\/v1\/fill\/w_843,h_675,al_c,q_90\/fe1b0a_a6758c25b1984df0bb7330d0a9f337a8~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9739\u9742\u8eca\u5f71\u50cf\u8fa8\u8b58\u7d44\u7684\u884c\u52d5\u96fb\u6e90\u914d\u5099<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_06d7a1a633e14f06a0cf3acde487ed36~mv2.jpg\/v1\/fill\/w_843,h_675,al_c,q_90\/fe1b0a_06d7a1a633e14f06a0cf3acde487ed36~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9739\u9742\u8eca\u5f71\u50cf\u8fa8\u8b58\u7d44\u7684\u884c\u52d5\u96fb\u6e90\u70ba\u96d9\u8f38\u51fa\u884c\u52d5\u96fb\u6e90<\/p>\n\n\n\n<p>\u60f3\u8981\u5feb\u901f\u5730\u9032\u5165 ROS\u7cfb\u7d71\u7684\u4e16\u754c\uff0c\u4e00\u500b\u64c1\u6709\u773e\u591a\u529f\u80fd\u3001\u651c\u5e36\u65b9\u4fbf\u7684\u6559\u5177\u5c07\u6703\u8b93\u4f60\u4e8b\u534a\u529f\u500d\u3002 CIRCUS Pi  \u5e6b\u4f60\u7e3d\u7d50\u4e00\u4e0b\uff0c\u9739\u9742\u8eca\u4f5c\u70ba ROS\u7cfb\u7d71\u7684\u5165\u9580\u7d1a\u6559\u5177\uff0c\u5c07\u53ef\u4ee5\u5e6b\u52a9\u4f60\uff1a<\/p>\n\n\n\n<ul><li>\u5feb\u901f\u642d\u5efa ROS\u7cfb\u7d71\u7684\u591a\u6a5f\u901a\u8a0a\u67b6\u69cb\uff0c\u56e0\u5176\u6709\u8457\u65b9\u4fbf\u7684\u7121\u7dda\u901a\u8a0a\u786c\u9ad4\u8a2d\u9ad4 ( wifi &amp; \u85cd\u82bd ) <\/li><li>\u65b9\u4fbf\u5730\u64f4\u5145\u5176\u9918\u786c\u9ad4\u8a2d\u5099\u8207\u589e\u52a0\u984d\u5916\u529f\u80fd\uff0c\u56e0\u5176\u6709\u8457\u773e\u591a\u7684GPIO\u8173\u4f4d\u4ee5\u53ca USB \u7b49\u901a\u8a0a\u901a\u7528\u63a5\u53e3 ( \u9739\u9742\u8eca\u51fa\u7522\u6642\u5c07\u514d\u8cbb\u9644\u8d08\u4e00\u500b 2.4G HZ wifi \u7121\u9650\u6416\u687f )<\/li><li> \u76e1\u60c5\u7814\u767c\u79fb\u52d5\u5e73\u53f0\u7684\u5404\u7a2e\u6280\u8853\uff0c\u9739\u9742\u8eca\u4e0a\u5df2\u6709\u99ac\u9054\u63a7\u5236\u677f\u7684\u64f4\u5145<\/li><li>\u5b78\u7fd2\u76ee\u524d\u6700\u592f\u7684\u4eba\u5de5\u667a\u6167\u6280\u8853\u8207\u57fa\u790e\u7684\u81ea\u52d5\u99d5\u99db\u529f\u80fd\uff0c\u56e0\u9739\u9742\u8eca\u914d\u6709 800\u842c\u50cf\u7d20\u7684\u93e1\u982d<\/li><li>\u7bc0\u7701\u627e\u5c0b\u96fb\u6e90\u7d44\u7684\u6642\u9593\uff0c\u7c21\u55ae\u7684\u884c\u52d5\u96fb\u6e90( 5V )\u7d44\u4fbf\u53ef\u4ee5\u5e6b\u52a9\u4f60\u904b\u884c\u9739\u9742\u8eca\u7684\u5404\u7a2e\u529f\u80fd<\/li><\/ul>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8fd1\u5e7e\u5e74\u4f86\uff0c\u958b\u6e90\u7684\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71 &#8211; ROS( Robot Operating System )\uff0c\u9010 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1021,"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\/811"}],"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=811"}],"version-history":[{"count":7,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/811\/revisions"}],"predecessor-version":[{"id":9477,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/811\/revisions\/9477"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/1021"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=811"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=811"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=811"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=811"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}