{"id":813,"date":"2019-07-02T11:40:33","date_gmt":"2019-07-02T03:40:33","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=813"},"modified":"2022-09-14T10:37:42","modified_gmt":"2022-09-14T02:37:42","slug":"ros06","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros06\/","title":{"rendered":"\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71 ROS\u7684\u6280\u8853 &#8211; \u5165\u9580\u6559\u5177\u9739\u9742\u8eca-\u96f7\u9054\u5c0e\u822a\u7d44"},"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-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1201\" height=\"629\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/01\/ROS_\u9739\u9742\u8eca_1.jpg\" alt=\"\" class=\"wp-image-8809\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001 ROS\u6559\u5177\u9739\u9742\u8eca\u7c21\u4ecb<\/h2>\n\n\n\n<p>CIRCUS Pi \u6240\u8a2d\u8a08\u7684ROS\u7cfb\u7d71\u5165\u9580\u7d1a\u6559\u5177 &#8211; \u9739\u9742\u8eca\uff0c\u5176\u4e2d\u6709\u4e00\u9805\u7279\u9ede\u8b93\u5b78\u54e1\u611f\u5230\u975e\u5e38\u6709\u8da3\uff0c\u537b\u4e5f\u6709\u9ede\u7121\u6240\u9069\u5f9e\u3002\u9019\u9805\u7279\u9ede\u5373\u662f<\/p>\n\n\n\n<ul><li>\u65b9\u4fbf\u5730\u64f4\u5145\u5176\u9918\u786c\u9ad4\u8a2d\u5099\u8207\u589e\u52a0\u984d\u5916\u529f\u80fd\uff0c\u56e0\u70ba\u5177\u6709\u5f88\u591a\u7684GPIO\u8173\u4f4d\u4ee5\u53ca USB \u3001wifi\u3001\u85cd\u82bd\u7b49\u901a\u8a0a\u901a\u7528\u63a5\u53e3 ( \u9739\u9742\u8eca\u51fa\u7522\u6642\u5c07\u514d\u8cbb\u9644\u8d08\u4e00\u7d44 2.4G HZ wifi \u7121\u9650\u6416\u687f ) <\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_9c1255cd8e8c425da86e46f24562ddfb~mv2_d_4032_3024_s_4_2.jpg\/v1\/fill\/w_740,h_555,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_9c1255cd8e8c425da86e46f24562ddfb~mv2_d_4032_3024_s_4_2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9739\u9742\u8eca\u4e0a\u7684\u63a5\u53e3\u8a2d\u5099<\/p>\n\n\n\n<p>\u90a3\u9ebc\uff0c\u76f8\u4fe1\u6b63\u5728\u770b\u9019\u7bc7\u6587\u7ae0\u7684\u4f60\uff0c\u4e5f\u4e00\u5b9a\u6703\u6709\u4e0b\u5217\u7684\u7591\u554f\uff1a<\/p>\n\n\n\n<ul><li>\u9664\u4e86\u53ef\u4ee5\u589e\u52a0\u4e00\u500b 2.4G HZ \u7121\u9650\u6416\u687f\uff0c\u8b93\u9739\u9742\u8eca\u53ef\u4ee5\u8b8a\u6210\u9059\u63a7\u8eca\u4e4b\u5916\uff0c\u9739\u9742\u8eca\u5230\u5e95\u9084\u53ef\u4ee5\u64f4\u5145\u4ec0\u9ebc\u529f\u80fd\u5462? <\/li><\/ul>\n\n\n\n<p>\u5982\u679c\u4e00\u76f4\u601d\u8003\u5230\u5e95\u53ef\u4ee5\u64f4\u5145\u4ec0\u9ebc\u529f\u80fd\uff0c\u6216\u8a31\u771f\u7684\u60f3\u7834\u982d\u4e5f\u60f3\u4e0d\u51fa\u4f86\uff0c\u56e0\u70ba\u53ef\u4ee5\u64f4\u5145\u7684\u6771\u897f\u5be6\u5728\u592a\u591a\u592a\u591a\u4e86\u3002\u70ba\u6b64\uff0c\u6211\u5011\u53ef\u4ee5\u5148\u60f3\u4e00\u4e0b\u9739\u9742\u8eca\u76ee\u524d\u70ba\u6b62\u7684\u7279\u9ede\u6709\u4ec0\u9ebc<\/p>\n\n\n\n<ol><li>\u53ef\u642d\u8f09 ROS\u7cfb\u7d71\u7684\u55ae\u677f\u96fb\u8166<\/li><li>\u65b9\u4fbf\u7684\u7121\u7dda\u901a\u8a0a\u958b\u767c\u74b0\u5883<\/li><li>\u99ac\u9054\u63a7\u5236\u677f\u7684\u64f4\u5145\uff0c\u8b8a\u6210\u53ef\u5feb\u901f\u7814\u7a76\u8207\u958b\u767c\u7684\u79fb\u52d5\u5e73\u53f0<\/li><li>\u64c1\u6709 800\u842c\u50cf\u7d20\u7684\u93e1\u982d<\/li><li>\u6975\u5176\u65b9\u4fbf\u7684\u884c\u52d5\u96fb\u6e90\u7d44<\/li><\/ol>\n\n\n\n<p>\u5c07\u9019\u4e9b\u7279\u9ede\u5217\u51fa\u4f86\u5f8c\uff0c\u6211\u5011\u53ef\u4ee5\u767c\u73fe\uff0c\u9739\u9742\u8eca\u4f5c\u70ba\u79fb\u52d5\u5e73\u53f0\u7684\u7814\u7a76\u8207\u958b\u767c\u4e4b\u6559\u5177\uff0c\u53ef\u4ee5\u767c\u63ee\u4ed6\u6700\u5927\u7684\u50f9\u503c\u3002\u56e0\u6b64\u6211\u5011\u53ef\u4ee5\u5f9e\u300c\u81ea\u52d5\u99d5\u99db\u300d\u7684\u65b9\u5411\u601d\u8003\uff0c<\/p>\n\n\n\n<ul><li>\u539f\u4f86\u7684\u9739\u9742\u8eca\u5df2\u7d93\u53ef\u4ee5\u4f7f\u7528\u93e1\u982d\uff0c\u5b8c\u6210\u5f71\u50cf\u8fa8\u8b58\u9053\u8def\u7684\u81ea\u52d5\u99d5\u99db\u529f\u80fd\u3002\u90a3\u9ebc\uff0c\u5728\u81ea\u52d5\u99d5\u99db\u6280\u8853\u65b9\u9762\uff0c\u9739\u9742\u8eca\u9084\u80fd\u5920\u5e6b\u52a9\u4f60\u5b78\u7fd2\u5230\u4ec0\u9ebc\u5462?<\/li><\/ul>\n\n\n\n<p>\u70ba\u6b64\uff0cCIRCUS Pi \u4fbf\u5c07\u9739\u9742\u8eca\u984d\u5916\u7684\u64f4\u5145\u4e00\u500b\u300c\u6fc0\u5149\u96f7\u9054( Lidar )\u300d<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_9ea8952f757441d9b653275b7a446e49~mv2_d_4032_3024_s_4_2.jpg\/v1\/fill\/w_740,h_555,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_9ea8952f757441d9b653275b7a446e49~mv2_d_4032_3024_s_4_2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5ba4\u5167\u578b\u6fc0\u5149\u96f7\u9054<\/p>\n\n\n\n<p>\u8b93\u9739\u9742\u8eca\u6416\u8eab\u4e00\u8b8a\uff0c\u6210\u70ba\u4e00\u53f0\u300c\u9739\u9742\u96f7\u9054\u8eca\u300d\u56c9 ! <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_07abbfe3c96749e68bbbaf28b48746ab~mv2_d_4032_3024_s_4_2.jpg\/v1\/fill\/w_740,h_555,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_07abbfe3c96749e68bbbaf28b48746ab~mv2_d_4032_3024_s_4_2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9739\u9742\u96f7\u9054\u8eca<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001 ROS\u6559\u5177\u9739\u9742\u8eca\u529f\u80fd<\/h2>\n\n\n\n<p>\u9739\u9742\u96f7\u9054\u8eca\u65b0\u589e\u4e86\u4e0b\u5217\u7684\u529f\u80fd\uff1a<\/p>\n\n\n\n<ol><li>\u5075\u6e2c\u969c\u7919\u7269<\/li><li>\u4f7f\u7528 slam\u6280\u8853\uff0c\u5efa\u7acb\u5730\u5716<\/li><li>\u4f7f\u7528 ROS\u7cfb\u7d71\u958b\u6e90\u7684  Navigation \u529f\u80fd\uff0c\u81ea\u52d5\u5c0e\u822a\u81f3\u76ee\u7684\u5730<\/li><\/ol>\n\n\n\n<p>\u82e5\u662f\u80fd\u5920\u5b78\u7fd2\u4e0a\u5217\u7684\u4e09\u9805\u529f\u80fd\uff0c\u5c07\u53ef\u4ee5\u8b93\u4f60\u5c0d\u65bc\u81ea\u52d5\u99d5\u99db\u6280\u8853\uff0c\u64c1\u6709\u66f4\u6df1\u523b\u7684\u7406\u89e3\u5594 ! \u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u4f86\u770b\u770b\u9739\u9742\u96f7\u9054\u8eca\u9019\u4e09\u9805\u529f\u80fd\u7684\u4ecb\u7d39\u5427 !\u9739\u9742\u96f7\u9054\u8eca\u8207\u5075\u6e2c\u969c\u7919\u7269<\/p>\n\n\n\n<p>\u9739\u9742\u96f7\u9054\u8eca\u6240\u4f7f\u7528\u7684\u96f7\u9054\uff0c\u53ea\u8981\u5229\u7528 USB \u63a5\u53e3\uff0c\u4fbf\u53ef\u4ee5\u5b8c\u6210\u300c\u8cc7\u6599\u50b3\u905e\u300d\u8207\u300c\u4f9b\u96fb\u300d\u529f\u80fd\u3002\u9700\u8981\u7279\u5225\u6ce8\u610f\u7684\u662f\uff0c\u6a39\u8393\u6d3e\u672c\u8eab\u7684 USB\u63a5\u53e3\uff0c\u96fb\u6d41\u91cf\u7684\u6700\u5927\u8f38\u51fa\u96fb\u6d41\uff0c\u662f\u5c0f\u65bc\u96f7\u9054\u555f\u52d5\u77ac\u9593\u7684\u77ac\u9593\u96fb\u6d41 (\u4e5f\u5c31\u662f\u6a39\u8393\u6d3e\u672c\u8eab\u7684 USB\u63a5\u53e3\u7121\u6cd5\u555f\u52d5\u96f7\u9054 )\uff0c\u56e0\u6b64\u5efa\u8b70\u4f7f\u7528\u984d\u5916\u7684USB\u50b3\u8f38\u7dda\uff0c\u4f86\u4f9b\u96fb\u7d66\u4e88\u6fc0\u5149\u96f7\u9054\u4f7f\u7528\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_0df3ac968728412ca85b0f79e775c976~mv2.jpg\/v1\/fill\/w_740,h_987,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_0df3ac968728412ca85b0f79e775c976~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u96f7\u9054\u6a21\u7d44\u63a5\u53e3 ( PWR\uff1a\u96fb\u6e90 \u3001DATA\uff1a\u8cc7\u6599\u50b3\u8f38 )<\/p>\n\n\n\n<p>ROS\u7cfb\u7d71\u672c\u8eab\u5c31\u64c1\u6709\u4e00\u500b\u53ef\u8996\u5316\u5de5\u5177\u300crviz\u300d\uff0c\u5e6b\u52a9\u5927\u5bb6\u66f4\u5bb9\u6613\u5730\u89c0\u5bdf\u6fc0\u5149\u96f7\u9054\u6240\u56de\u50b3\u7684\u8cc7\u8a0a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_609a703c6291441689592b78472052b5~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4f7f\u7528 Rviz \u67e5\u770b\u96f7\u9054\u50b3\u56de\u8cc7\u8a0a\u756b\u9762\u9739\u9742\u96f7\u9054\u8eca\u8207slam\u6280\u8853 &#8211; \u5efa\u7acb\u5730\u5716<\/p>\n\n\n\n<p>slam\u6280\u8853\u662f<strong>\u540c\u6b65\u5b9a\u4f4d\u8207\u5730\u5716\u69cb\u5efa( Simultaneous localization and mapping )<\/strong>\u7684\u7c21\u7a31\uff0c<a href=\"https:\/\/tw.saowen.com\/a\/41521cca5d707d28aa08412ceae1e20dc819bd5839155b331b41c1b59af46051\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"slam\u76f8\u95dc\u8cc7\u8a0a\u9023\u7d50 (opens in a new tab)\">slam\u76f8\u95dc\u8cc7\u8a0a\u9023\u7d50<\/a>\u3002<\/p>\n\n\n\n<p>\u70ba\u4e86\u5b8c\u6210\u5229\u7528 slam\u6280\u8853\u5efa\u7acb\u5730\u5716\u529f\u80fd\uff0c\u9739\u9742\u96f7\u9054\u8eca\u4e0a\u7684\u96fb\u6e90\u90e8\u5206\u9700\u8981\u91cd\u65b0\u5206\u914d\u3002\u5728\u524d\u9762\u7ae0\u7bc0\u300c\u9739\u9742\u96f7\u9054\u8eca\u8207\u5075\u6e2c\u969c\u7919\u7269\u300d\u4e2d\u6709\u63d0\u5230\uff0c\u6a39\u8393\u6d3e\u672c\u8eab\u7684 USB\u63a5\u53e3\u7121\u6cd5\u555f\u52d5\u96f7\u9054\uff0c\u56e0\u6b64\u6211\u5011\u9700\u8981\u5c07\u884c\u52d5\u96fb\u6e90\u7684\u53e6\u4e00\u500b\u8f38\u51fa\u5b54\uff0c\u7d66\u4e88\u6fc0\u5149\u96f7\u9054( \u539f\u5148\u662f\u7d66\u4e88\u99ac\u9054\u63a7\u5236\u677f\u7528 )\uff1b\u800c\u99ac\u9054\u63a7\u5236\u677f\u7684\u96fb\u6e90\uff0c\u5c07\u7531\u55ae\u677f\u96fb\u8166\u7684 USB\u63a5\u53e3\u4f9b\u61c9( \u56e0\u9739\u9742\u96f7\u9054\u8eca\u7684\u76f4\u6d41\u99ac\u9054\u9700\u8981\u7684\u96fb\u6d41\u8f03\u5c0f )\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_2e24932cce9c4c6bbc2ff5701c62a785~mv2_d_4032_3024_s_4_2.jpg\/v1\/fill\/w_740,h_555,al_c,q_90,usm_0.66_1.00_0.01\/fe1b0a_2e24932cce9c4c6bbc2ff5701c62a785~mv2_d_4032_3024_s_4_2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9739\u9742\u96f7\u9054\u8eca\u7684\u99ac\u9054\u63a7\u5236\u677f\u5c07\u7531\u55ae\u677f\u96fb\u8166\u63d0\u4f9b<\/p>\n\n\n\n<p>\u5b8c\u6210\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u4f7f\u7528 ROS\u7cfb\u7d71\uff0c\u5b8c\u6210 slam\u6280\u8853\u4e2d\u7684\u5efa\u7acb\u5730\u5716\u529f\u80fd\u56c9 !<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_3fb8c8c02ff94d9da9a8a43170bf7c34~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4f7f\u7528 Rviz \u67e5\u770b\u5efa\u7acb\u5730\u5716\u756b\u9762\u9739\u9742\u96f7\u9054\u8eca\u8207slam\u6280\u8853 &#8211; \u81ea\u52d5\u5c0e\u822a<\/p>\n\n\n\n<p>\u7576\u5730\u5716\u5efa\u7acb\u597d\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u4f7f\u7528\u9019\u4efd\u5730\u5716\uff0c\u5229\u7528 ROS\u7cfb\u7d71\u73fe\u6709\u7684\u7a0b\u5f0f\u78bc\uff0c\u5b8c\u6210\u81ea\u52d5\u5c0e\u822a\u7684\u52d5\u4f5c\u56c9 !<\/p>\n\n\n\n<p>(\u6b64\u5f71\u7247\u70ba\u9739\u9742\u8eca\u958b\u767c\u8005\u4e4b\u4e00\u6e2c\u8a66\u756b\u9762\uff0c<a href=\"https:\/\/github.com\/kungfrank\/Knight_car\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">\u9ede\u6b64\u67e5\u95b1\u958b\u767c\u8005\u9739\u9742\u8ecagithub<\/a> )<\/p>\n\n\n\n<figure><iframe loading=\"lazy\" allowfullscreen=\"1\" src=\"https:\/\/www.youtube.com\/embed\/UlBHKnV47X4?autoplay=0&amp;mute=0&amp;controls=1&amp;origin=https%3A%2F%2Fsocial-blog.wix.com&amp;playsinline=1&amp;showinfo=0&amp;rel=0&amp;iv_load_policy=3&amp;modestbranding=1&amp;widget_referrer=https%3A%2F%2Fwww.makerlab.tw%2Fpost%2F%25E8%25BC%2595%25E9%25AC%2586%25E6%2587%2589%25E7%2594%25A8-%25E6%25A9%259F%25E5%2599%25A8%25E4%25BA%25BA%25E6%2593%258D%25E4%25BD%259C%25E7%25B3%25BB%25E7%25B5%25B1-ros%25E7%259A%2584%25E6%258A%2580%25E8%25A1%2593-%25E5%2585%25A5%25E9%2596%2580%25E6%2595%2599%25E5%2585%25B7%25E9%259C%25B9%25E9%259D%2582%25E8%25BB%258A-%25E9%259B%25B7%25E9%2581%2594%25E5%25B0%258E%25E8%25&amp;enablejsapi=1&amp;widgetid=1\" width=\"100%\" height=\"100%\"><\/iframe><\/figure>\n\n\n\n<p>\u9739\u9742\u8eca\u64f4\u5145\u6210\u9739\u9742\u96f7\u9054\u8eca\u5f8c\uff0c\u53ef\u4ee5\u4f7f\u7528\u3001\u5b78\u7fd2\u7684\u529f\u80fd\u5c31\u8b8a\u5f97\u66f4\u591a\u4e86\u5462 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