{"id":815,"date":"2019-07-02T11:43:20","date_gmt":"2019-07-02T03:43:20","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=815"},"modified":"2022-09-12T12:16:48","modified_gmt":"2022-09-12T04:16:48","slug":"ros07","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros07\/","title":{"rendered":"\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 \u2013 ROS \u8207\u8a9e\u97f3\u8fa8\u8b58"},"content":{"rendered":"\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-flow wp-block-group-is-layout-flow\">\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=\"2501\" height=\"1309\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/01\/20210104__ROS-1.0-\u8207\u8a9e\u97f3\u8fa8\u8b58_2.jpg\" alt=\"\" class=\"wp-image-8802\"\/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001 ROS 1.0 \u8207\u8a9e\u97f3\u8fa8\u8b58\u5b78\u7fd2\u524d\u6ce8\u610f\u4e8b\u9805<\/h2>\n\n\n\n<p>\u5728\u958b\u59cb\u95b1\u8b80\u672c\u7bc7\u6587\u7ae0\u524d\uff0c\u8acb\u5148\u78ba\u4fdd\u4e0b\u5217\u4e8b\u9805\uff1a<\/p>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-flow wp-block-group-is-layout-flow\">\n<ul>\n<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 <span class=\"tadv-color\" style=\"color: #0695e4;\"><a style=\"color: #0695e4;\" 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> <\/span><\/li>\n<li>\u958b\u555f\u5206\u9801\u578b Terminal \u7684\u5feb\u6377\u9375\u70ba \u300c Ctrl + shift + T\u300d<\/li>\n<li>\u5df2\u95b1\u8b80\u5b8c\u6210\u6b64\u7bc7\u6559\u5b78\u6587\u7ae0\uff1a<a href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros04\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\"><span class=\"tadv-color\" style=\"color: #0693e3;\">\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(\u4e0b)<\/span><\/a><\/li>\n<li>\u672c\u6587\u7ae0\u7bc4\u4f8b\u7684 IP\u4f4d\u7f6e\u7686\u662f\u5728\u5275\u5ba2\u840a\u5427Makerlab\u6e2c\u8a66\u6642\u6240\u4f7f\u7528\u7684\uff0c\u64cd\u4f5c\u6642\u8acb\u4f7f\u7528\u81ea\u5df1\u67e5\u8a62\u5230\u7684 IP\u4f4d\u7f6e<\/li>\n<li>\u00d8 \u958b\u982d\u82e5\u662f\u6b64\u7b26\u865f\uff0c\u8868\u793a\u70ba\u9700\u8981\u8f38\u5165\u7684\u6307\u4ee4<\/li>\n<\/ul>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<p>\u672c\u6587\u7ae0\u7bc4\u4f8b\u5c07\u6703\u6709\u6a39\u8393\u6d3e\u7684 Terminal gif\u52d5\u756b\u8207\u7b46\u96fb\u7684 gif\u52d5\u756b\uff0c\u5206\u8fa8\u65b9\u5f0f\u70ba\u67e5\u770b\u958b\u982d\u7684\u4f7f\u7528\u8005\u5e33\u6236\u8207\u5be6\u9ad4\u4e3b\u6a5f\u540d\u7a31\uff0c\u5982\u4e0b\u5169\u5f35\u5716\u8207\u7d05\u6846\u6240\u793a <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_9bf52e1c545d404eb1674de7cecefd50~mv2.jpg\/v1\/fill\/w_408,h_306,al_c,q_90\/fe1b0a_9bf52e1c545d404eb1674de7cecefd50~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6a39\u8393\u6d3e\u7684 Terminal \u793a\u610f\u5716<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_46efb877d13b4fe0a34044636df96992~mv2.jpg\/v1\/fill\/w_403,h_322,al_c,q_90\/fe1b0a_46efb877d13b4fe0a34044636df96992~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u7b46\u96fb\u7684 Terminal \u793a\u610f\u5716<\/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<h2 class=\"wp-block-heading\">\u4e8c\u3001 ROS 1.0 \u57fa\u672c\u4ecb\u7d39<\/h2>\n\n\n\n<p>\u5728\u672c\u7bc7\u6587\u7ae0\u4e2d\u6211\u5011\u5c07\u53ef\u4ee5\u4e86\u89e3\u5230<\/p>\n\n\n\n<ol><li>\u5982\u4f55\u4f7f\u7528\u6a39\u8393\u6d3e\u539f\u751f\u7cfb\u7d71 Raspbian \u5b89\u88dd ROS 1.0 \u2013 Kinetic \u7248\u672c<\/li><li>\u5efa\u7f6e\u4f7f\u7528\u8a9e\u97f3\u8fa8\u8b58\u6642\u7684\u5de5\u4f5c\u74b0\u5883<\/li><li>\u5373\u4f7f\u4f7f\u7528\u4e0d\u540c\u7684\u4f5c\u696d\u7cfb\u7d71\u64cd\u4f5c ROS 1.0\uff0c\u4f9d\u820a\u80fd\u5920\u5b8c\u6210\u591a\u6a5f\u901a\u8a0a\u64cd\u4f5c<\/li><li>\u4f7f\u7528\u57fa\u65bc\u8a9e\u97f3\u8fa8\u8b58\u7cfb\u7d71 Sphinx \u7684 ROS package \uff0c \u300c pocketsphinx \u300d\uff0c\u5b8c\u6210\u8a9e\u97f3\u8fa8\u8b58<\/li><li>\u5229\u7528\u8a9e\u97f3\u8fa8\u8b58\u7d50\u679c\u8207ROS 1.0\uff0c\u9060\u7aef\u64cd\u63a7 ROS 1.0 tutorial \u4e2d\u7684 turtlesim<\/li><\/ol>\n\n\n\n<p> \u78ba\u8a8d\u4e0a\u5217\u4e8b\u9805\u7686\u5df2\u5b8c\u6210\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u958b\u59cb\u9032\u884c\u672c\u7bc7\u6587\u7ae0\u7684\u6559\u5b78\u56c9! <\/p>\n\n\n\n<p>\u65e9\u5728\u96fb\u8166\u767c\u660e\u4e4b\u524d\uff0c\u81ea\u52d5\u8a9e\u97f3\u8fa8\u8b58\u7684\u8a2d\u60f3\u5c31\u5df2\u7d93\u88ab\u63d0\u4e0a\u4e86\u8b70\u4e8b\u65e5\u7a0b\uff0c\u65e9\u671f\u7684\u8072\u78bc\u5668\u53ef\u88ab\u8996\u4f5c\u8a9e\u97f3\u8fa8\u8b58\u53ca\u5408\u6210\u7684\u96db\u5f62\u3002<\/p>\n\n\n\n<p>\u800c\u8a9e\u97f3\u8fa8\u8b58\u6280\u8853\u7684\u6700\u91cd\u5927\u7a81\u7834\u662f \u300c \u96b1\u99ac\u723e\u79d1\u592b\u6a21\u578b( Hidden Markov Model )\u300d\u7684\u61c9\u7528\u3002\u73fe\u4eca\u5927\u591a\u6578\u7684\u8a9e\u97f3\u8fa8\u8b58\u6216\u591a\u6216\u5c11\u90fd\u8207\u96b1\u99ac\u723e\u79d1\u592b\u6a21\u578b\u7684\u61c9\u7528\u6709\u95dc\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\u672c\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u4f7f\u7528\u7531\u5361\u5167\u57fa\u6885\u9686\u5927\u5b78\u7684\u674e\u958b\u5fa9\u6559\u6388\uff0c\u57fa\u65bc\u96b1\u99ac\u723e\u79d1\u592b\u6a21\u578b\u7684\u5927\u8a5e\u5f59\u91cf\u8a9e\u97f3\u8fa8\u8b58\u7cfb\u7d71 \u300c Sphinx \u300d\uff0c\u642d\u914dROS\u7cfb\u7d71\u4f86\u5b8c\u6210\u8a9e\u97f3\u8fa8\u8b58\u7684\u529f\u80fd\u56c9!<\/p>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u5c07\u4f7f\u7528\u6a39\u8393\u6d3e\u8207 ReSpeaker 4-Mic Array for Raspberry Pi \u4f86\u5b8c\u6210\u8a9e\u97f3\u8fa8\u8b58\u7684\u529f\u80fd ; \u4e26\u4f7f\u7528 ROS1.0 \u7cfb\u7d71\u7684\u591a\u6a5f\u901a\u8a0a\u529f\u80fd\uff0c\u64cd\u63a7\u9060\u7aef\u96fb\u8166\u7684\u5c0f\u70cf\u9f9c\u3002 <\/p>\n\n\n\n<p>\u95dc\u65bc\u672c\u7bc7\u6559\u5b78\u6587\u7ae0\u4e2d\uff0c\u6240\u4f7f\u7528\u7684\u6a39\u8393\u6d3e\u8207 ReSpeaker 4-Mic Array for Raspberry Pi <\/p>\n\n\n\n<p>\u8a73\u7d30\u8cc7\u8a0a\u53ef\u9ede\u9078\u4e0b\u5217\u4f7f\u7528\u6e90\u898b\u5716\u7247\u53c3\u8003<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.icshop.com.tw\/product-page.php?25377\" target=\"_blank\"><span style=\"color:#0693e3\" class=\"tadv-color\">\u6a39\u8393\u6d3e Modul 3B \u96fb\u6e90\u5305<\/span><\/a>\u3001<a href=\"https:\/\/www.icshop.com.tw\/product-page.php?25650\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"ReSpeaker 4-Mic Array for Raspberry Pi (opens in a new tab)\"><span style=\"color:#0693e3\" class=\"tadv-color\">ReSpeaker 4-Mic Array for Raspberry Pi<\/span><\/a><\/p>\n\n\n\n<p>ROS 1.0\u7cfb\u7d71\u8f03\u70ba\u56f0\u96e3\u7684\u64cd\u4f5c\u4e4b\u4e00\uff0c\u4fbf\u662f\u300c\u958b\u767c\u74b0\u5883\u7684\u5efa\u7f6e\u300d\u3002\u56e0\u6b64\u5728\u524d\u5e7e\u7bc7\u6559\u5b78\u6587\u7ae0\u4e2d\u6211\u5011\u591a\u63a1\u7528 Ubuntu \u4f5c\u696d\u7cfb\u7d71\u4f86\u5b89\u88dd\uff0c\u9019\u662f\u56e0\u70ba ROS \u8207 Ubuntu\u7cfb\u7d71\u76f8\u5bb9\u6027\u6700\u9ad8\uff0c\u4e5f\u6700\u5bb9\u6613\u5b89\u88dd\u3002\u7136\u800c\uff0c\u5728\u9019\u6b21\u6211\u5011\u4f7f\u7528\u7684 Respeaker 4-Mic Array for Raspberry Pi  ( \u4ee5\u4e0b\u7686\u7c21\u7a31\u70ba respeaker ) \uff0c\u76ee\u524d\u70ba\u6b62\u4e26\u4e0d\u652f\u63f4 Ubuntu-mate 16.04 \u7cfb\u7d71 \u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\u82e5\u662f\u60f3\u5229\u7528 ROS1.0\u7cfb\u7d71 \u8207 respeaker \u5b8c\u6210\u8a9e\u97f3\u8fa8\u8b58\uff0c\u52e2\u5fc5\u5c07\u9808\u4f7f\u7528\u53e6\u4e00\u5916\u5957\u4f5c\u696d\u7cfb\u7d71\u3002\u525b\u597d\u622a\u81f3\u76ee\u524d\u70ba\u6b62\uff0c\u5275\u5ba2\u840a\u5427Makerlab \u88ab\u591a\u6b21\u8a62\u554f\u4e8c\u500b\u554f\u984c\uff1a<\/p>\n\n\n\n<ol><li>\u662f\u5426\u53ef\u4ee5\u5728\u5225\u7684\u4f5c\u696d\u7cfb\u7d71\uff0c\u5b89\u88dd ROS 1.0 ? <\/li><li>\u82e5\u662f\u4ee5\u4e0d\u540c\u4f5c\u696d\u7cfb\u7d71\u4f86\u64cd\u4f5c ROS 1.0\uff0c\u662f\u5426\u4f9d\u7136\u53ef\u4ee5\u5b8c\u6210\u591a\u6a5f\u901a\u8a0a\u7684\u64cd\u4f5c?<\/li><\/ol>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001 ROS 1.0 \u8207\u8a9e\u97f3\u8fa8\u8b58\u57f7\u884c\u529f\u80fd\u4ecb\u7d39<\/h2>\n\n\n\n<p>\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u5c07\u900f\u904e\u672c\u7bc7\u7684 ROS 1.0 \u8207\u8a9e\u97f3\u8fa8\u8b58\u7684\u6559\u5b78\u6587\u7ae0\uff0c\u56de\u7b54\u5927\u5bb6\u5169\u500b\u554f\u984c\u5427! <\/p>\n\n\n\n<p>\u6211\u5011\u5c07\u57f7\u884c 8\u500b\u6b65\u9a5f\uff0c\u4f86\u57f7\u884c ROS 1.0 \u8207 \u8a9e\u97f3\u8fa8\u8b58\u7684\u529f\u80fd\uff0c\u5206\u5225\u70ba<\/p>\n\n\n\n<ol><li> \u5728 Raspbian\u4f5c\u696d\u7cfb\u7d71 \u4e2d \u5b89\u88dd ROS1.0 \u7cfb\u7d71 <\/li><li> \u4e0b\u8f09\u958b\u6e90\u5c08\u6848 smart_robot <\/li><li> \u4e0b\u8f09\u8207\u5b89\u88dd\u958b\u6e90\u5c08\u6848 smart_robot \u7684\u4f9d\u8cf4 <\/li><li> \u5efa\u7acb\u958b\u6e90\u5c08\u6848 smart_robot \u7684 ROS 1.0 \u5de5\u4f5c\u7a7a\u9593 <\/li><li> \u95dc\u9589\u6a39\u6885\u6d3e\uff0c\u4e26\u5b89\u88dd respeaker \u786c\u9ad4 <\/li><li> \u8a2d\u5b9a\u6a39\u6885\u6d3e\u6293\u53d6 Respeaker \u786c\u9ad4<\/li><li> \u4f7f\u7528 ROS 1.0 \u9032\u884c\u8a9e\u97f3\u8fa8\u8b58 <\/li><li> \u4f7f\u7528 ROS 1,0 \u8207\u8a9e\u97f3\u8fa8\u8b58\uff0c\u63a7\u5236 turtlesim <\/li><\/ol>\n\n\n\n<p>1. \u5728 Raspbian\u4f5c\u696d\u7cfb\u7d71\u4e2d \u5b89\u88dd ROS1.0\u7cfb\u7d71<\/p>\n\n\n\n<p>\u8981\u5728 Raspbian \u4f5c\u696d\u7cfb\u7d71\u4e2d\uff0c\u5b89\u88dd ROS 1.0 \u4e4b\u524d\uff0c\u8acb\u78ba\u4fdd\u6a39\u8393\u6d3e\u4e2d\u7684Raspbian \u7cfb\u7d71\u70ba 2018\u5e7411\u670813\u65e5\u6240\u767c\u884c\u7684\u7248\u672c\uff0c\u6b64\u70ba\u672c\u7bc7\u6559\u5b78\u4e2d\u6240\u4f7f\u7528\u7684 Raspbian \u4f5c\u696d\u7cfb\u7d71\u7248\u672c\uff0c\u8a73\u898b\u4e0b\u5716( \u9ede\u64ca\u5716\u7247\u9032\u5165\u4e0b\u8f09\u7db2\u5740<span style=\"color:#313131\" class=\"tadv-color\"> )<\/span><span style=\"color:#0693e3\" class=\"tadv-color\"><a rel=\"noreferrer noopener\" href=\"https:\/\/www.raspberrypi.org\/downloads\/raspbian\/\" target=\"_blank\">Raspbian \u4f5c\u696d\u7cfb\u7d71\u7248\u672c<\/a><\/span><\/p>\n\n\n\n<p>\u78ba\u8a8d\u597d Raspbian \u7cfb\u7d71\u7684\u7248\u672c\u5f8c\uff0c\u63a5\u4e0b\u4f86\u4fbf\u53ef\u4ee5\u5b89\u88dd ROS 1.0 \u2013 Knietic \u7248\u672c\u4e86\u3002<\/p>\n\n\n\n<p>\u82e5\u662f\u719f\u6089 Linux\u7cfb\u7d71\u7684\u670b\u53cb\uff0c\u53ef\u4ee5\u7167\u4e0b\u5217\u7db2\u5740\u7684\u5b89\u88dd\u6b65\u9a5f\u81ea\u884c\u5b89\u88dd\uff1a<\/p>\n\n\n\n<ul class=\"Link-blue\"><li><a href=\"https:\/\/www.intorobotics.com\/how-to-install-ros-kinetic-on-raspberry-pi-3-running-raspbian-stretch-lite\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"Linux\u7cfb\u7d71\u6a94\u6848\u9023\u7d50 (opens in a new tab)\"><span style=\"color:#0693e3\" class=\"tadv-color\">Linux\u7cfb\u7d71\u6a94\u6848\u9023\u7d50<\/span><\/a><\/li><\/ul>\n\n\n\n<p>\u82e5\u662f\u4e0d\u719f\u6089 Linux \u4f5c\u696d\u7cfb\u7d71\u7684\u670b\u53cb\uff0c\u53ef\u4f9d\u7167\u4e0b\u5217\u6b65\u9a5f\uff0c\u5b89\u88dd ROS 1.0 \u2013 Knietic \u7248\u672c\u3002<\/p>\n\n\n\n<p>1-1 \u6a39\u8393\u6d3e\u7684 Raspbian \u4f5c\u696d\u7cfb\u7d71\u958b\u555f Terminal\u5f8c \uff0c\u4f7f\u7528 apt\u5957\u4ef6\u5b89\u88dd git \u5957\u4ef6<\/p>\n\n\n\n<p>\u00d8 sudo apt-get install git <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_98c0dd1f724c4f37a4ef33c9dcae4ed3~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u4f7f\u7528 apt \u5957\u4ef6\u4e0b\u8f09\u8207\u5b89\u88dd git \u7248\u672c\u63a7\u5236\u5668<\/p>\n\n\n\n<p>\u7531\u65bc\u5c0f\u7de8\u5148\u524d\u5df2\u5728\u6a39\u8393\u6d3e\u7684 Raspbian\u4f5c\u696d\u7cfb\u7d71\u4e0a\u5b89\u88dd\u904e git \u7248\u672c\u63a7\u5236\u5668\uff0c\u56e0\u6b64\u4e0a\u65b9\u7684\u52d5\u756b\u5448\u73fe\u7684\u662f\u5df2\u7d93\u5b89\u88dd\u7684\u52d5\u756b\u3002<\/p>\n\n\n\n<p>1-2 \u4e0b\u8f09\u958b\u6e90\u5c08\u6848 smart_robot <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_6cb3d25deb0b41e8a759fcf909932e2a~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u5229\u7528 git\u672c\u7248\u63a7\u5236\u5668\u4e0b\u8f09\u958b\u6e90\u5c08\u6848 smart_robot<\/p>\n\n\n\n<p> 1-3 \u57f7\u884c ROS_PI_kinetic_install.sh \u8173\u672c <\/p>\n\n\n\n<p>\u9019\u88e1\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u56e0\u70ba Raspbian\u4f5c\u696d\u7cfb\u7d71\u7684\u6e90\u5009\u5eab\u4e2d\uff0c\u4e26\u6c92\u6709 ROS 1.0 \u76f8\u95dc\u7684\u5b89\u88dd\u5957\u4ef6 ( \u4e5f\u5c31\u662f\u7121\u6cd5\u4f7f\u7528 sudo apt-get install ros-kinetic-desktop-full \u5b89\u88dd ROS 1.0 )\u3002\u56e0\u6b64\uff0c\u6211\u5011\u662f\u900f\u904e python \u4e2d\u7684 rosinstall \u5957\u4ef6\u7522\u751f\u4e0b\u8f09 ROS-kinetic \u76f8\u95dc\u5957\u4ef6\u7684\u9023\u7d50\uff0c\u518d\u4f7f\u7528 python \u4e2d\u7684 wstool \u5957\u4ef6\u4f86\u7ba1\u7406ROS-kinetic \u76f8\u95dc\u5957\u4ef6\u7684\u9023\u7d50\uff0c\u6c7a\u5b9a\u662f\u5426\u4e0b\u8f09\u8a72\u5957\u4ef6\u7684\u539f\u59cb\u78bc\u3002<\/p>\n\n\n\n<p>\u6700\u5f8c\uff0c\u518d\u900f\u904eCmake \u7cfb\u7d71\uff0c\u5c07\u525b\u525b\u4e0b\u8f09\u7684 ROS kinetic \u76f8\u95dc\u5957\u4ef6\u539f\u59cb\u78bc\uff0c\u9032\u884c\u7de8\u8b6f\u8207\u5b89\u88dd\u3002\u5728\u6b64\u7de8\u8b6f\u8207\u5b89\u88dd\u904e\u7a0b\u4e2d\uff0c\u56e0\u70ba\u6a39\u8393\u6d3e\u672c\u8eab\u786c\u9ad4\u9650\u5236\uff0c\u7121\u6cd5\u4e00\u6b21\u57f7\u884c\u591a\u500b\u7de8\u8b6f\u8207\u5b89\u88dd\u4efb\u52d9\uff0c\u56e0\u6b64\u6211\u5011\u5728 make \u7684\u9078\u9805\u5f8c\u9762 \uff0c \u52a0\u5165\u300c -j1 \u300d \u7684\u53c3\u6578\u9078\u9805 \uff0c\u5373\u544a\u77e5\u6a39\u8393\u6d3e\u8acb\u4e00\u6b21\u57f7\u884c\u4e00\u500b\u7de8\u8b6f\u6216\u5b89\u88dd\uff0c\u56e0\u6b64\u6b64\u6b65\u9a5f\u5c07\u6703\u57f7\u884c 3 ~ 5 \u5c0f\u6642\u4e0d\u7b49\u7684\u6642\u9593\u3002<\/p>\n\n\n\n<p>\u8acb\u52d9\u5fc5\u78ba\u4fdd\u6a39\u8393\u6d3e\u662f\u4f7f\u7528\u8b8a\u58d3\u5668\u4f9b\u7d66\u96fb\u6e90\u8207\u6563\u71b1\u5145\u8db3\u7684\u60c5\u6cc1\u4e0b\uff0c\u518d\u8f38\u5165\u4e0b\u5217\u7684\u6307\u4ee4\uff0c\u958b\u59cb\u5b89\u88dd ROS 1.0 \u2013 kinetic \u7248\u672c\u3002<\/p>\n\n\n\n<p>\u00d8 source ~\/smart_robot\/ROS_PI_kinetic_install.sh<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_83a51fcbc3e741d6bc39f1fac5481a39~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u57f7\u884c ROS_PI_kinetic_install.sh \u8173\u672c<\/p>\n\n\n\n<p>\u57f7\u884c\u5b8c \u300cROS_PI_kinetic_install.sh\u300d\u8173\u672c\u5f8c\uff0cRaspbian\u4f5c\u696d\u7cfb\u7d71\u4fbf\u6703\u958b\u59cb\u81ea\u884c\u5b89\u88dd ROS 1.0 \u2013 kinetic \u684c\u9762\u5b8c\u6574\u5b89\u88dd\u7248\u672c\u30022. \u4e0b\u8f09\u958b\u6e90\u5c08\u6848 smart_robot<\/p>\n\n\n\n<p>\u7576 ROS 1.0 \u2013 kinetic \u7248\u672c\u5b89\u88dd\u5b8c\u6210\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u4e0b\u8f09<span style=\"color:#0693e3\" class=\"tadv-color\"><a href=\"https:\/\/github.com\/kjoelovelife\/smart_robot\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"CIRCUS Pi \u7684\u958b\u6e90\u5c08\u6848(\u9023\u7d50) (opens in a new tab)\">CIRCUS Pi \u7684\u958b\u6e90\u5c08\u6848(\u9023\u7d50)<\/a> <\/span>, smart_robot\u3002\u5982\u679c\u6a39\u8393\u6d3e\u5df2\u7d93\u5728\u5b89\u88dd\u6b65\u9a5f\u4e0b\u8f09\u904e\u958b\u6e90\u5c08\u6848 smart_robot\u7684\u670b\u53cb\uff0c\u4fbf\u53ef\u4ee5\u76f4\u63a5\u9032\u5165 step3\u3002\u9084\u6c92\u4e0b\u8f09\u7684\u670b\u53cb\u53ef\u4ee5\u4f9d\u7167 1-1 \u3001 1-2 \u6b65\u9a5f\u4e0b\u8f09\u3002<\/p>\n\n\n\n<p>\u82e5\u662f\u60f3\u8981\u9032\u884c ROS 1.0 \u7cfb\u7d71\u7684\u591a\u6a5f\u901a\u8a0a\u64cd\u4f5c\uff0c\u4e5f\u8acb\u52d9\u5fc5\u5728\u4e3b\u63a7\u96fb\u8166\u7aef( \u5df2\u5b89\u88dd\u5b8c\u6210 Ubuntu \u4f5c\u696d\u7cfb\u7d71\u8207 ROS 1.0 -kinetic \u7248\u672c )\uff0c\u4e0b\u8f09\u958b\u6e90\u5c08\u6848 smart_robot\u3002 3. \u4e0b\u8f09\u8207\u5b89\u88dd\u958b\u6e90\u5c08\u6848 smart_robot \u7684 \u4f9d\u8cf4<\/p>\n\n\n\n<p>\u5728\u57f7\u884c\u958b\u6e90\u5c08\u6848 smart_robot\u524d\uff0c\u6211\u5011\u9700\u8981\u4e0b\u8f09\u8207\u5b89\u88dd\u76f8\u95dc\u7684\u4f9d\u8cf4\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u56e0\u70ba\u4f9d\u8cf4\u773e\u591a\u7684\u539f\u56e0\u52a0\u4e0a\u5728\u4f7f\u7528 Cmake \u7cfb\u7d71\u7684\u6642\u5019\uff0c\u6211\u5011\u8a2d\u5b9a\u7684\u53c3\u6578\u9078\u9805\u70ba \u300c -j1 \u300d( \u8a73\u7d30\u89e3\u8aaa\u8acb\u67e5\u770b 1-3 \u6b65\u9a5f )\u3002\u56e0\u6b64\u8acb\u78ba\u4fdd\u6a39\u6885\u6d3e\u662f\u4f7f\u7528\u8b8a\u58d3\u5668\u4f9b\u7d66\u96fb\u6e90\u8207\u6563\u71b1\u5145\u8db3\u7684\u60c5\u6cc1\u4e0b\uff0c\u518d\u57f7\u884c\u4e0b\u8f09\u8207\u5b89\u88dd\u4f9d\u8cf4\u7684\u8173\u672c\u3002<\/p>\n\n\n\n<p>\u5728\u6a39\u8393\u6d3e\u7aef\u9700\u8981\u57f7\u884c\u7684\u662f\u300c<strong>dependencies_for_smartRobot_pi_ws_tools.sh<\/strong>\u300d\u8173\u672c\u6a94\u6848\u3002<\/p>\n\n\n\n<p>\u00d8 source ~\/smart_robot\/<strong>dependencies_for_smartRobot_pi_ws_tools.sh<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_01b9536d3b184f8ba2cebc4c117da0db~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u6a39\u8393\u6d3e\u4e0b\u8f09\u5b89\u88dd\u958b\u6e90\u5c08\u6848 smart_robot \u7684\u4f9d\u8cf4<\/p>\n\n\n\n<p>\u7576\u7136\uff0c\u82e5\u662f\u60f3\u8981\u9032\u884c ROS 1.0 \u591a\u6a5f\u901a\u8a0a\u64cd\u4f5c\uff0c\u4e5f\u8acb\u52d9\u5fc5\u5728\u7b46\u96fb\u7aef\u4e0b\u8f09\u5b89\u88dd\u958b\u6e90\u5c08\u6848 smart_robot \u76f8\u95dc\u7684\u4f9d\u8cf4\u3002<\/p>\n\n\n\n<p>\u5728\u7b46\u96fb\u7aef\u9700\u8981\u57f7\u884c\u7684\u662f\u300c<strong>dependencies_for_laptop.sh<\/strong>\u300d\u8173\u672c\u6a94\u6848\u3002<\/p>\n\n\n\n<p>\u00d8 source ~\/smart_robot\/<strong>dependencies_for_laptop.sh<\/strong> <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_130990a7e32f428ab0c82b58c1068a9d~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u7b46\u96fb\u7aef\u4e0b\u8f09\u5b89\u88dd\u958b\u6e90\u5c08\u6848 smart_robot \u7684\u4f9d\u8cf4<\/p>\n\n\n\n<p>\u5230\u76ee\u524d\u70ba\u6b62\uff0c\u5728\u6a39\u8393\u6d3e\u539f\u751f\u7cfb\u7d71 Raspbian\u4f5c\u696d\u7cfb\u7d71\u4e2d\uff0c \u914d\u7f6e ROS 1.0 \u2013 kinetic \u7248\u8207\u57f7\u884c\u958b\u6e90\u5c08\u6848 smart_robot \u7684\u5de5\u4f5c\u74b0\u5883\u7d42\u65bc\u5b8c\u6210\u4e86! 4. \u5efa\u7acb \u958b\u6e90\u5c08\u6848 smart_robot \u7684 ROS 1.0 \u5de5\u4f5c\u7a7a\u9593<\/p>\n\n\n\n<p>\u7576\u958b\u6e90\u5c08\u6848 smart_robot \u6240\u9700\u8981\u7684\u5de5\u4f5c\u74b0\u5883\u5efa\u7acb\u5b8c\u6210\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u958b\u59cb\u69cb\u5efa\u8a72\u5c08\u6848\u7684 ROS 1.0 \u5de5\u4f5c\u7a7a\u9593\u4e86\uff0c\u8acb\u8f38\u5165\u4e0b\u5217\u6307\u4ee4<\/p>\n\n\n\n<p>\u00d8 cd ~\/smart_robot\/catkin_ws &amp;&amp; catkin_make -j1 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_33cf507f75f641a29b6a01a850fab11c~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u69cb\u5efa\u958b\u6e90\u5c08\u6848 smart_robot \u5de5\u4f5c\u7a7a\u9593<\/p>\n\n\n\n<p>\u7531\u65bc \u958b\u6e90\u5c08\u6848 smart_robot \u64c1\u6709\u7684 package\u8f03\u5c11\uff0c\u56e0\u6b64\u5373\u4f7f\u4ee5 [ -j1 ] \u7684\u53c3\u6578\u9078\u9805\u4f86\u69cb\u5efa ROS 1.0 \u5de5\u4f5c\u7a7a\u9593\uff0c\u4e5f\u4e0d\u6703\u8017\u8cbb\u592a\u591a\u6642\u9593 \u3002 5. \u95dc\u9589\u6a39\u6885\u6d3e\uff0c\u4e26\u5b89\u88dd respeaker \u786c\u9ad4<\/p>\n\n\n\n<p>\u7576\u958b\u6e90\u5c08\u6848 smart_robot \u76f8\u95dc\u7684\u5de5\u4f5c\u74b0\u5883\u3001\u5de5\u4f5c\u7a7a\u9593\u90fd\u5c31\u7dd2\u5f8c\uff0c\u6211\u5011\u5c31\u53ef\u4ee5\u5148\u5c07\u6a39\u6885\u6d3e\u95dc\u6a5f\u3002\u78ba\u4fdd\u6a39\u6885\u6d3e\u7121\u4efb\u4f55\u5916\u90e8\u96fb\u6e90\u4f9b\u96fb\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u5c07 respeaker \u5b89\u88dd\u81f3\u6a39\u8393\u6d3e\u3002\u5b89\u88dd\u65b9\u6cd5\u975e\u5e38\u7c21\u55ae\uff0c\u53ea\u8981\u5c07 respeaker \u7684\u6bcd\u5ea7\uff0c\u5c0d\u6e96\u6a39\u8393\u6d3e\u6240\u6709GPIO \u7684\u8173\u4f4d\u5f8c\uff0c\u518d\u8f15\u8f15\u5730\u5b89\u88dd\u4e0a\u53bb\u5373\u53ef\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_d0b06a72a85e45bf974162578db59294~mv2.jpg\/v1\/fill\/w_520,h_346,al_c,q_90\/fe1b0a_d0b06a72a85e45bf974162578db59294~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6a39\u6885\u6d3e GPIO\u8173\u4f4d \u8207 Respeaker \u6bcd\u5ea7 ( \u7d05\u6846\u8655 )<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_60cf7a9652194ef3a63b31bb54383376~mv2_d_1662_1961_s_2.png\/v1\/fill\/w_1662,h_1961,al_c,q_90\/fe1b0a_60cf7a9652194ef3a63b31bb54383376~mv2_d_1662_1961_s_2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>Respeaker \u5b89\u88dd\u81f3\u6a39\u8393\u6d3e\u5f8c\u7684\u793a\u610f\u57166. \u8a2d\u5b9a\u6a39\u8393\u6d3e\u6293\u53d6 Respeaker \u786c\u9ad4<\/p>\n\n\n\n<p>6-1 \u67e5\u8a62\u6a39\u8393\u6d3e\u7684\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099<\/p>\n\n\n\n<p>Respeaker \u5b89\u88dd\u5b8c\u6210\u5f8c\uff0c\u63a5\u4e0b\u4f86\u662f\u97cc\u9ad4\u7aef\u7684\u8a2d\u5b9a\u4e86\u3002\u5c07\u6a39\u6885\u6d3e\u555f\u52d5\u5f8c\uff0c\u958b\u555f Terminal \u4e26\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\u67e5\u627e\u76ee\u524d\u7684\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099(\u9304\u97f3)\uff1a<\/p>\n\n\n\n<p>\u00d8 arecord -l<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_3e0be4d594c44228a29d00e58bc5645a~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u67e5\u8a62\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099(\u9304\u97f3)<\/p>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4\u5f8c\uff0c\u4fbf\u6703\u51fa\u73fe\u95dc\u65bc\u6a39\u6885\u6d3e\u672c\u8eab\u6240\u642d\u8f09\u7684\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099(\u9304\u97f3)\u76f8\u95dc\u8cc7\u8a0a\u3002\u9019\u88e1\u6211\u5011\u9700\u8981\u7d00\u9304\u7684\u662f card \u7684\u7de8\u865f\u8207 device\u7684\u7de8\u865f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_3d4363bf092f4442b5c2419328201f24~mv2.jpg\/v1\/fill\/w_696,h_71,al_c,q_90\/fe1b0a_3d4363bf092f4442b5c2419328201f24~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099\u8cc7\u8a0a(\u9304\u97f3)<\/p>\n\n\n\n<p>\u5982\u4e0a\u5716\u6240\u793a\uff0c\u5728\u672c\u7bc7\u6587\u7ae0\u6559\u5b78\u4e2d\uff0crespeaker \u7684card \u7684\u7de8\u865f\u70ba 1 \uff0cdevice \u7684\u7de8\u865f\u70ba0\u3002<\/p>\n\n\n\n<p>\u6211\u5011\u4e5f\u9806\u4fbf\u67e5\u627e\u4e00\u4e0b\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099(\u64ad\u653e)\u7684\u76f8\u95dc\u8a2d\u5099\u8cc7\u8a0a\uff0c\u4ee5\u4fbf\u4e4b\u5f8c\u53ef\u4ee5\u76f4\u63a5\u81ea\u884c\u958b\u767c Google \u7684 \u8a9e\u97f3\u52a9\u7406\u76f8\u95dc\u529f\u80fd\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_794c1acd62ca4753a56939720cb31373~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6307\u4ee4\u8f38\u5165 &#8211; \u67e5\u8a62\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099(\u64ad\u653e)<\/p>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4\u5f8c\uff0c\u4fbf\u6703\u51fa\u73fe\u95dc\u65bc\u6a39\u6885\u6d3e\u672c\u8eab\u6240\u642d\u8f09\u7684\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099(\u64ad\u653e)\u76f8\u95dc\u8cc7\u8a0a\u3002\u540c\u6a23\u5730\u6211\u5011\u9700\u8981\u7d00\u9304\u7684\u662f card \u7684\u7de8\u865f\u8207 device\u7684\u7de8\u865f\uff0c\u6211\u5011\u9078\u64c7\u6a39\u6885\u6d3e\u672c\u8eab\u5c31\u5177\u6709\u7684 3.5 mm jack \u4f5c\u70ba\u64ad\u653e\u8072\u97f3\u7684\u8a2d\u5099(\u4e0b\u5716\u7d05\u6846\u7684\u7de8\u865f )\u3002 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_0e9cea4b6ba04a2faae8d53d3ffb3038~mv2.jpg\/v1\/fill\/w_695,h_257,al_c,q_90\/fe1b0a_0e9cea4b6ba04a2faae8d53d3ffb3038~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099\u8cc7\u8a0a(\u64ad\u653e)<\/p>\n\n\n\n<p>6-2 \u914d\u7f6e ~\/.asoundrc \u6587\u4ef6\uff0c\u8b93\u6a39\u6885\u6d3e\u6293\u53d6\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099<\/p>\n\n\n\n<p>\u7d00\u9304\u597d\u9304\u97f3\u8207\u64ad\u653e\u7684 card \u8207 device \u7de8\u865f\u5f8c\uff0c\u63a5\u8457\u6211\u5011\u9700\u8981\u544a\u77e5\u6a39\u8393\u6d3e\u4f7f\u7528\u9019\u4e00\u7d44\u7de8\u865f\u4f5c\u70ba\u9810\u8a2d\u7684\u4f7f\u7528\u7de8\u865f\u3002\u76f8\u95dc\u7684\u8a2d\u5b9a\u6307\u4ee4\u5982\u4e0b\u5716\u6240\u793a\uff1a <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_ba8b5c53cc8641c884d61fc8122d021c~mv2.jpg\/v1\/fill\/w_642,h_476,al_c,q_90\/fe1b0a_ba8b5c53cc8641c884d61fc8122d021c~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8a2d\u5b9a\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099\u6307\u4ee4<\/p>\n\n\n\n<p>\u9019\u88e1\u9700\u8981\u6ce8\u610f\u7684\u662f\u7d05\u6846\u90e8\u5206\uff0c\u5728 mic \u90e8\u5206\u9700\u8981\u66ff\u63db\u6210\u525b\u525b\u8a18\u9304 respeaker \u7684 card \u7de8\u865f\u8207 device \u7de8\u865f \uff1b\u5728 speaker \u90e8\u5206\u9700\u8981\u66ff\u63db\u6210\u525b\u525b\u7d00\u9304 3.5 mm \u2013 jack \u7684 card \u7de8\u865f\u8207 device \u7de8\u865f\u3002<\/p>\n\n\n\n<p>\u8acb\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\u65b0\u589e\u4e26\u4fee\u6539 ~\/.asoundrc \u6587\u4ef6( \u6b64\u7bc7\u6559\u5b78\u6587\u7ae0\u4f7f\u7528 vim \u4f5c\u70ba\u6587\u5b57\u7de8\u8f2f\u5668 )\uff0c\u5c07\u8a2d\u5b9a\u97f3\u6548\u5361\u548c\u6578\u4f4d\u97f3\u8a0a\u8a2d\u5099\u6307\u4ee4\u8f38\u5165\u81f3\u6b64\u6587\u4ef6\u3002<\/p>\n\n\n\n<p>\u00d8 sudo vim ~\/.asoundrc<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_8e54710f627f4094b001174175bad7ec~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4 &#8211; \u65b0\u589e\u4e26\u4fee\u6539 ~\/.asoundrc \u6587\u4ef6<\/p>\n\n\n\n<p>\u56e0\u5c0f\u7de8\u7684\u6a39\u8393\u6d3e\u5df2\u7d93\u6709\u65b0\u589e\u4e26\u4fee\u6539\u904e ~\/.asoundrc \u6587\u4ef6\uff0c\u56e0\u6b64\u4e0a\u9762\u7684 gif \u52d5\u756b\u986f\u793a\u7684\u7d50\u679c\u662f\u5df2\u7d93\u914d\u7f6e\u597d\u8a2d\u5b9a\u6307\u4ee4\u7684\u756b\u9762\uff0c\u82e5\u662f\u7b2c\u4e00\u6b21\u8f38\u5165\u6307\u4ee4\u7684\u670b\u53cb\u5448\u73fe\u7684\u61c9\u8a72\u6703\u662f\u7a7a\u767d\u7684\u756b\u9762\u3002\u5c0f\u7de8\u5728\u6b64\u5c07\u914d\u7f6e\u5b8c\u6210\u5f8c\u7684\u7d50\u679c\u622a\u5716\u81f3\u4e0b\u65b9<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_0da87e40a11845a699b0810ad380289a~mv2.png\/v1\/fill\/w_414,h_535,al_c,q_90\/fe1b0a_0da87e40a11845a699b0810ad380289a~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u914d\u7f6e\u5b8c\u6210 ~\/.asoundrc \u6587\u4ef6\u7684\u756b\u9762<\/p>\n\n\n\n<p>\u914d\u7f6e\u597d ~\/.asoundrc \u6587\u4ef6\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u5b58\u6a94\u95dc\u9589\u4e26\u91cd\u65b0\u555f\u52d5\u6a39\u8393\u6d3e\uff0c\u8b93\u6a39\u6885\u6d3e\u5728\u958b\u6a5f\u6642\u81ea\u52d5\u8b80\u53d6\u8a72\u6587\u4ef6\u7684\u8a2d\u5b9a\uff0c\u4f7f\u5f97 respeaker \u80fd\u5920\u767c\u63ee\u4f5c\u7528\u3002<\/p>\n\n\n\n<ul><li>\u9084\u6709\u5f88\u91cd\u8981\u7684\u4e00\u9ede\u662f\uff0c\u6b64\u914d\u7f6e\u65b9\u6cd5\u662f Linux \u4f5c\u696d\u7cfb\u7d71\u7684\u914d\u7f6e\u65b9\u6cd5\uff0c\u56e0\u6b64\u4e0d\u50c5\u50c5\u5728 Raspbian \u4f5c\u696d\u7cfb\u7d71\u53ef\u4ee5\u4f7f\u7528\uff0c\u5728 Ubuntu \u4f5c\u696d\u7cfb\u7d71\u4e0a\u4e5f\u4f9d\u7136\u53ef\u4ee5\u4f7f\u7528\u3002\u56e0\u6b64\u6211\u5011\u4e5f\u53ef\u4ee5\u5728\u7b46\u96fb\u4e0a\u7528\u6b64\u7a2e\u65b9\u6cd5\u914d\u7f6e\u597d\u95dc\u65bc\u9304\u97f3\u8207\u64ad\u653e\u6240\u60f3\u8981\u4f7f\u7528\u7684\u8a2d\u5099\u3002<\/li><\/ul>\n\n\n\n<p>7. \u4f7f\u7528 ROS \u7cfb\u7d71\u9032\u884c\u8a9e\u97f3\u8fa8\u8b58<\/p>\n\n\n\n<p>7-1 \u914d\u7f6e ROS 1.0 \u591a\u6a5f\u901a\u8a0a\u67b6\u69cb<\/p>\n\n\n\n<p>\u8a73\u7d30\u7684\u914d\u7f6e\u65b9\u6cd5\u8acb\u53c3\u7167\uff1a <a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros04\/\" target=\"_blank\"><span style=\"color:#0693e3\" class=\"tadv-color\">\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(\u4e0b)<\/span><\/a>\u3002<\/p>\n\n\n\n<p>\u9019\u7bc7\u6587\u7ae0\u6709\u8a73\u7d30\u5730\u4ecb\u7d39\u8a72\u5982\u4f55\u914d\u7f6e ROS 1.0 \u7684\u591a\u6a5f\u901a\u8a0a\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u82e5\u662f\u4e0d\u60f3\u4f7f\u7528ROS 1.0 \u591a\u6a5f\u901a\u8a0a\uff0c\u5247\u7b2c7\u3001\u7b2c8\u6240\u6709\u6b65\u9a5f\u7686\u53ef\u5728\u6a39\u8393\u6d3e\u7aef\u4e2d\u57f7\u884c\u3002<\/p>\n\n\n\n<p>7-2 \u7b46\u96fb\u5411\u7db2\u57df\u8a3b\u518a Master<\/p>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u6559\u5b78\u7bc4\u4f8b\u4e2d\uff0c\u4f7f\u7528\u7b46\u96fb\u5411\u7db2\u57df\u8a3b\u518a Master\uff0c\u8acb\u5728\u53ef\u64cd\u4f5c ROS1.0 \u7cfb\u7d71\u7684\u7b46\u96fb\u4e0a\u958b\u555f Terminal \uff0c\u4e26\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\u7528\u4ee5\u8a3b\u518a Master<\/p>\n\n\n\n<p>\u00d8 roscore<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_96e41d68bc524bd89b4f948927103f25~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4 \u2013 \u7b46\u96fb\u5411\u7db2\u57df\u8a3b\u518a Master<\/p>\n\n\n\n<p>7-3 \u6a39\u6885\u6d3e\u57f7\u884c \u300c pocketsphinx.launch \u300d\u6587\u4ef6<\/p>\n\n\n\n<p>\u5728\u958b\u6e90\u5c08\u6848 smart_robot \u4e2d\uff0c\u6709\u8457\u7531 github\u4e0a\u7684\u4f5c\u8005 UTNuclearRoboticsPublic \u6240\u6539\u7de8\u800c\u4f86\u7684 ROS 1.0 Package &#8211;  \u300cpocketsphinx\u300d\u3002\u9019\u500b Package \u4fbf\u662f\u4f7f\u7528\u8a9e\u97f3\u8fa8\u8b58\u7cfb\u7d71 Sphinx \u7684\u6a21\u578b\uff0c\u4f86\u5be6\u73fe\u8a9e\u97f3\u8fa8\u8b58\u3002\u56e0\u6b64\u6211\u5011\u50c5\u9700\u8981\u57f7\u884c pocketsphinx.launch \u7684\u6587\u4ef6\uff0c\u4fbf\u53ef\u4ee5\u958b\u555f\u8a9e\u97f3\u8fa8\u8b58\u7684\u529f\u80fd\u4e86\u3002\u8acb\u5728\u6a39\u8393\u6d3e\u7aef\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\u57f7\u884c\u300c pocketsphinx.launch \u300d\u6587\u4ef6\uff1a<\/p>\n\n\n\n<p>\u00d8 roslaunch pocketsphinx pocketsphinx.launch <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_b3e4c9e8ae9b4cccbdfbdc64c011d13a~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4 &#8211; \u6a39\u8393\u6d3e\u7aef\u57f7\u884cpocketsphinx.launch \u6587\u4ef6<\/p>\n\n\n\n<p>7-4 \u67e5\u770b\u8a9e\u97f3\u8fa8\u8b58\u7d50\u679c<\/p>\n\n\n\n<p>\u7531\u65bc sphinx \u8a9e\u97f3\u8fa8\u8b58\u6a21\u578b\u662f\u4ee5\u672c\u5730\u8cc7\u6599\u5eab\u4f86\u4ea4\u53c9\u6bd4\u5c0d\u6e2c\u8a66\u8005\u7684\u8a9e\u97f3\uff0c<\/p>\n\n\n\n<p>\u56e0\u6b64\u6211\u5011\u9700\u8981\u5148\u77e5\u9053\u8a72\u6a21\u578b\u53ef\u8fa8\u8b58\u7684\u95dc\u9375\u5b57\u8a5e\u8207\u8cc7\u6599\u5eab\u6240\u64c1\u6709\u7684\u8cc7\u6599\uff0c<\/p>\n\n\n\n<p>\u624d\u80fd\u8aaa\u51fa\u6b63\u78ba\u7684\u5b57\u8a5e\uff0c\u8b93\u6a39\u8393\u6d3e\u8fa8\u8b58\u8a9e\u97f3\u7d50\u679c\u3002<\/p>\n\n\n\n<p>\u95dc\u9375\u5b57\u8a5e\u8207\u8cc7\u6599\u5eab\u7686\u5b58\u653e\u5728 pocketsphinx\/vocab\/hub4wsj_sc_8k \u8cc7\u6599\u593e<\/p>\n\n\n\n<p>\u88e1\uff0c\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_d76bab315a854845894bf2770c04d73d~mv2.png\/v1\/fill\/w_537,h_133,al_c,q_90\/fe1b0a_d76bab315a854845894bf2770c04d73d~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\/pocketsphinx\/vocab\/hub4wsj_sc_8k \u8cc7\u6599\u593e\u5167\u5bb9<\/p>\n\n\n\n<p>\u5176\u4e2d\uff0c\u300c voice_cmd.dic \u300d\u5b58\u653e\u7684\u4fbf\u662f\u8a9e\u97f3\u8cc7\u6599\u5eab ; \u300c voice_cmd.kwlist \u300d\u5b58\u653e\u7684\u662f\u95dc\u9375\u5b57\u8a5e\u3002<\/p>\n\n\n\n<p>\u6211\u5011\u53ef\u4ee5\u958b\u555f \u300c voice_cmd.kwlist \u300d\uff0c\u67e5\u770b\u76ee\u524d\u6709\u54ea\u4e9b\u95dc\u9375\u5b57\u8a5e\u53ef\u4f9b\u8fa8\u8a8d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_7ab893c7a57b440bb0824f93a205a293~mv2.png\/v1\/fill\/w_916,h_449,al_c,q_90\/fe1b0a_7ab893c7a57b440bb0824f93a205a293~mv2.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>voice_cmd.kwlist\u5167\u7684\u95dc\u9375\u5b57\u8a5e<\/p>\n\n\n\n<p>\u7576\u77e5\u9053\u6709\u90a3\u4e9b\u95dc\u9375\u5b57\u8a5e\u53ef\u4f9b\u8fa8\u8a8d\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u67e5\u770b\u6b64\u6642ROS 1.0\u7cfb\u7d71\u4e2d\u7684topic :  \/pocketsphinx_recognizer\/output \uff0c\u4f86\u67e5\u770b\u6a39\u8393\u6d3e\u662f\u5426\u771f\u7684\u80fd\u5920\u8fa8\u8b58\u51fa\u6211\u5011\u6240\u8aaa\u7684\u95dc\u9375\u5b57 <\/p>\n\n\n\n<p>\u5728\u7b46\u96fb\u7684 Terminal \u4e0a\uff0c\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\u67e5\u770b\u8a72 topic\u7684\u8cc7\u6599\uff0c\u6b64\u8cc7\u6599\u4fbf\u662f\u8a9e\u97f3\u8fa8\u8b58\u7684\u7d50\u679c <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_f11573febbcf4977954204fa4a65979d~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4 \u2013 \u67e5\u770b\u8a9e\u97f3\u8fa8\u8b58\u7d50\u679c<\/p>\n\n\n\n<p>\u7531\u65bc\u6211\u5011\u4f7f\u7528\u7684 sphinx \u8a9e\u97f3\u8fa8\u8b58\u6a21\u578b\u662f\u4ee5\u5916\u570b\u4eba\u58eb\u7684\u8072\u5b78\u6a21\u578b\uff0c<\/p>\n\n\n\n<p>\u6240\u5efa\u7acb\u7684\u8a9e\u97f3\u8fa8\u8b58\u6a21\u578b\u3002\u56e0\u6b64\u5728\u5be6\u6e2c\u6642\u53ef\u4ee5\u767c\u73fe\uff0c\u5c0d\u65bc\u4e26\u975e\u4ee5\u82f1\u6587\u70ba\u6bcd\u8a9e<\/p>\n\n\n\n<p>\u7684\u6e2c\u8a66\u8005\uff0c\u8fa8\u8b58\u7684\u6e96\u78ba\u7387\u5be6\u969b\u4e0a\u4e26\u4e0d\u9ad8\u3002\u82e5\u662f\u60f3\u81ea\u884c\u66f4\u63db\u95dc\u9375\u5b57\u8a5e\u8207\u8cc7\u6599\u5eab\uff0c<\/p>\n\n\n\n<p>\u53ef\u81f3\u8a72\u7db2\u7ad9\u81ea\u884c\u4e0b\u8f09\uff1a\u3000<\/p>\n\n\n\n<p><a rel=\"noreferrer noopener\" aria-label=\"\u795e\u7d93\u7db2\u8def\u7684\u8a9e\u97f3\u6a21\u578b\u4e0b\u8f09\u9023\u7d50 (opens in a new tab)\" href=\"https:\/\/sourceforge.net\/projects\/cmusphinx\/files\/Acoustic%20and%20Language%20Models\/\" target=\"_blank\"><span style=\"color:#0693e3\" class=\"tadv-color\">\u795e\u7d93\u7db2\u8def\u7684\u8a9e\u97f3\u6a21\u578b\u4e0b\u8f09\u9023\u7d50<\/span><\/a>  8. \u8a9e\u97f3\u63a7\u5236 turtlesim<\/p>\n\n\n\n<p>\u8acb\u78ba\u4fdd \u7b2c 7 \u6b65\u9a5f\u5df2\u9806\u5229\u57f7\u884c\uff0c\u4e14\u53ef\u8fa8\u8a8d\u300c go \u3001stop \u3001back\u3001left\u3001right \u300d \u7b49\u7c21\u55ae\u8a5e\u5f59\u5f8c\uff0c<\/p>\n\n\n\n<p>\u6211\u5011\u4fbf\u53ef\u4ee5\u63a7\u5236 turtlesim\u56c9 !<\/p>\n\n\n\n<p>\u9996\u5148\u8acb\u5728\u7b46\u96fb\u7aef\u958b\u555fterminal \uff0c\u4e26\u57f7\u884c\u958b\u555fturtlesim\u7684\u6307\u4ee4 <\/p>\n\n\n\n<p>\u00d8 rosrun turtlesim turtlesim_node<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_5b4cb6b9be2d487299f9788bb6992b87~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4 \u2013 \u958b\u555f turtlesim<\/p>\n\n\n\n<p>\u7576\u5c0f\u70cf\u9f9c\u51fa\u73fe\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u5728\u6a39\u8393\u6d3e\u7aef\uff0c\u57f7\u884c\u7bc0\u9ede \u300c voice_control_turtlesim \u300d \uff0c<\/p>\n\n\n\n<p>\u7528\u8a9e\u97f3\u63a7\u5236\u5c0f\u70cf\u9f9c\u56c9 !<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.wixstatic.com\/media\/fe1b0a_7ac4af1170eb4e1fb061cd21c3cec328~mv2.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8f38\u5165\u6307\u4ee4 &#8211; \u57f7\u884c\u7bc0\u9ede voice_control_turtlesim<\/p>\n\n\n\n<p>\u57f7\u884c\u5b8c\u7562\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u5c07\u958b\u555f\u5c0f\u70cf\u9f9c\u7684 terminal \u8207 \u57f7\u884c <\/p>\n\n\n\n<p>voice_control_turtlesim \u4e26\u6392\u5448\u73fe\uff0c\u958b\u59cb\u4f7f\u7528\u8a9e\u97f3\u63a7\u5236\u5c0f\u70cf\u9f9c\u56c9 !<\/p>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u7684\u8a9e\u97f3\u8fa8\u8b58\u6559\u5b78\u5230\u6b64\u544a\u4e00\u500b\u6bb5\u843d\u56c9 ! \u76f8\u4fe1\u5927\u5bb6\u61c9\u8a72\u5728\u64cd\u4f5c\u904e\u7a0b\u4e2d\uff0c<\/p>\n\n\n\n<p>\u4e0d\u77e5\u4e0d\u89ba\u5730\u89e3\u6c7a\u4e86\u672c\u6587\u7ae0\u4e00\u958b\u59cb\u63d0\u53ca\u7684\u5169\u500b\u554f\u984c\uff1a<\/p>\n\n\n\n<p>Q1. \u662f\u5426\u53ef\u4ee5\u5728\u5225\u7684\u4f5c\u696d\u7cfb\u7d71\uff0c\u5b89\u88dd ROS 1.0 ? <\/p>\n\n\n\n<p>A1\uff1a\u672c\u7bc7\u6587\u7ae0\u4e2d\u5df2\u6559\u5c0e\u5927\u5bb6\u5982\u4f55\u5728 Raspbian\u4f5c\u696d\u7cfb\u7d71\u4e2d\u5b89\u88dd ROS 1.0\u56c9!<\/p>\n\n\n\n<p>Q2. \u82e5\u662f\u4ee5\u4e0d\u540c\u4f5c\u696d\u7cfb\u7d71\u4f86\u64cd\u4f5c ROS 1.0\uff0c\u662f\u5426\u4f9d\u7136\u53ef\u4ee5\u5b8c\u6210\u591a\u6a5f\u901a\u8a0a\u7684\u64cd\u4f5c?<\/p>\n\n\n\n<p>A2\uff1a\u672c\u7bc7\u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u6210\u529f\u7684\u5728\u64c1\u6709 Ubuntu 16.04 \u4f5c\u696d\u7cfb\u7d71\u7684\u7b46\u96fb\u4e0a\uff0c\u900f\u904e ROS 1.0 \u7cfb\u7d71\uff0c\u63a5\u6536\u4f86\u81ea Raspbian \u4f5c\u696d\u7cfb\u7d71\u7684\u6a39\u8393\u6d3e\u8a9e\u97f3\u8fa8\u8b58\u7d50\u679c\u56c9!<\/p>\n\n\n\n<p>\u56e0\u70ba smart_robot \u662f\u4e00\u500b\u85c9\u7531\u773e\u4eba\u7684\u529b\u91cf\u6240\u5b8c\u6210\u7684\u958b\u6e90\u5c08\u6848\uff0c\u6240\u4ee5\u4e5f\u6b61\u8fce\u5927<\/p>\n\n\n\n<p>\u5bb6\u81ea\u884c\u4fee\u6539\u88e1\u9762\u7684\u7a0b\u5f0f\u78bc\uff0c\u5b8c\u6210\u5c6c\u65bc\u81ea\u5df1\u7684\u6a5f\u5668\u4eba\u56c9 !<\/p>\n\n\n\n<p>\u5275\u5ba2\u840a\u5427 Makerlab \u5728\u9019\u88e1\u4e5f\u5e6b\u52a9\u5927\u5bb6\u5c07\u4e00\u53f0\u53ef\u4ee5\u81ea\u884c\u958b\u767c\u8a9e\u97f3\u8fa8\u8b58\u7684\u6a5f\u5668\u4eba<\/p>\n\n\n\n<p>\u5957\u4ef6 &#8211; \u300c \u667a\u6167\u6a5f\u5668\u4eba \u300d\u6574\u7406\u597d\u56c9 ! \u6709\u8208\u8da3\u7684\u670b\u53cb\u5011\u4e5f\u53ef\u4ee5\u9ede\u64ca\u4e0b\u65b9\u5716\u7247\uff0c<\/p>\n\n\n\n<p>\u5c07\u667a\u6167\u6a5f\u5668\u4eba\u5e36\u56de\u5bb6\uff0c\u958b\u59cb\u81ea\u884c\u6539\u9020\u6210\u53ef\u4ee5\u8a9e\u97f3\u63a7\u5236\u7684\u6a5f\u5668\u4eba\u5427 <br>( \u5c0f\u7de8\u6b63\u5728\u81ea\u884c\u6539\u9020\u6210\u300c\u53ef\u8a9e\u97f3\u63a7\u5236\u7684\u6383\u5730\u6a5f\u5668\u4eba\u300d~ ) !<br><span class=\"tadv-color\" style=\"color: #0693e3;\"><a style=\"color: #0693e3;\" href=\"https:\/\/www.icshop.com.tw\/product-page.php?27051\" target=\"_blank\" rel=\"noreferrer noopener\">\u64c1\u6709\u8a9e\u97f3\u6a21\u7d44\u3001\u8d85\u97f3\u6ce2\u3001\u93e1\u982d\u7684\u6a5f\u5668\u4eba &#8211; \u667a\u6167\u6a5f\u5668\u4eba<\/a> <\/span><\/p>\n\n\n\n<p><\/p>\n<\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001 ROS 1.0 \u8207\u8a9e\u97f3\u8fa8\u8b58\u5b78\u7fd2\u524d\u6ce8\u610f\u4e8b\u9805 \u5728\u958b\u59cb\u95b1\u8b80\u672c\u7bc7\u6587\u7ae0\u524d\uff0c\u8acb\u5148\u78ba\u4fdd\u4e0b\u5217\u4e8b\u9805\uff1a \u672c\u6587\u7ae0\u7bc4\u4f8b\u5c07\u6703\u6709\u6a39\u8393 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":8802,"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\/815"}],"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=815"}],"version-history":[{"count":33,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/815\/revisions"}],"predecessor-version":[{"id":9526,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/815\/revisions\/9526"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/8802"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=815"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=815"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=815"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=815"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}