{"id":374,"date":"2026-09-27T22:47:05","date_gmt":"2026-09-27T14:47:05","guid":{"rendered":"https:\/\/geocommunity.vip\/?p=374"},"modified":"2026-09-30T15:24:44","modified_gmt":"2026-09-30T07:24:44","slug":"ros2-coding-base","status":"publish","type":"post","link":"https:\/\/geocommunity.vip\/index.php\/2026\/09\/27\/ros2-coding-base\/","title":{"rendered":"ROS2\u7f16\u7a0b\u57fa\u7840"},"content":{"rendered":"\n

\u535a\u5ba2\u4ec5\u8bb0\u5f55\u4e2a\u4eba\u5b66\u4e60\u8fc7\u7a0b<\/p>\n\n\n\n

\u8282\u70b9\u548c\u8f6f\u4ef6\u5305\u662fROS2\u7a0b\u5e8f\u7684\u7ec4\u7ec7\u5f62\u5f0f\uff0c\u8282\u70b9\u76f8\u5f53\u4e8e\u4e00\u4e2aROS2\u7a0b\u5e8f\u6587\u4ef6\uff0c\u8f6f\u4ef6\u5305\u662f\u4e00\u4e2a\u5305\u542b\u4e86\u4e00\u7cfb\u5217\u914d\u7f6e\u6587\u4ef6\u7684\u76ee\u5f55\u3002<\/p>\n\n\n\n

\u4e00\u3001\u8282\u70b9\u548c\u8f6f\u4ef6\u5305<\/h1>\n\n\n\n

1\u3001\u521b\u5efa\u8f6f\u4ef6\u5305<\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u5982\u4e0a\u56fe\uff0c\u5df2\u7ecf\u628a ROS 2 \u7684\u73af\u5883\u521d\u59cb\u5316\u547d\u4ee4\u5199\u8fdb\u4e86\u7ec8\u7aef\u542f\u52a8\u811a\u672c<\/strong>\uff0c\u6bcf\u6b21\u6253\u5f00\u7ec8\u7aef\u5373\u53ef\u4f7f\u7528ROS2\u6307\u4ee4\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
ros2 pkg create \u5305\u540d<\/code><\/pre>\n\n\n\n
\u8fd9\u4e2a\u662f\u521b\u5efa\u8f6f\u4ef6\u5305\u7684ros\u6307\u4ee4\uff08c++\u9ed8\u8ba4\uff09\u3002<\/p>\n\n\n\n
VSCode\u6253\u5f00\uff0c\u6709\u4ee5\u4e0b\u6587\u4ef6\/\u6587\u4ef6\u5939\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
include\uff1a\u7528\u4e8e\u5b58\u653e\u5934\u6587\u4ef6\u7684\u5b50\u76ee\u5f55<\/p>\n\n\n\n
src\uff1a\u7528\u4e8e\u5b58\u653e\u8282\u70b9\u6e90\u7801\u6587\u4ef6\u7684\u5b50\u76ee\u5f55<\/p>\n\n\n\n
CMakeLists.txt\uff1a\u8be5\u8f6f\u4ef6\u5305\u7684\u7f16\u8bd1\u89c4\u5219\u63cf\u8ff0\u6587\u4ef6<\/p>\n\n\n\n
package.xml\uff1a\u8f6f\u4ef6\u5305\u7684\u914d\u7f6e\u4fe1\u606f\u6587\u4ef6<\/p>\n\n\n\n
2\u3001\u7f16\u5199\u8282\u70b9<\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n
3\u3001\u8bbe\u7f6e\u7f16\u8bd1\u89c4\u5219<\/h2>\n\n\n\n
\u6253\u5361CMakeLists.txt\u6587\u4ef6<\/p>\n\n\n\n
\u5148\u5bfb\u627e\u8282\u70b9\u6e90\u7801\u4e2d\u7528\u5230\u7684rclcpp\u4f9d\u8d56\u9879<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u4f7f\u7528\u5982\u4e0b\u4ee3\u7801\u6dfb\u52a0\u8282\u70b9\u6e90\u7801\u7684\u7f16\u8bd1\u89c4\u5219<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u4f7f\u7528\u5982\u4e0b\u4ee3\u7801\u6dfb\u52a0\u8282\u70b9\u7f16\u8bd1\u5b8c\u6210\u540e\u7684\u5b89\u88c5\u89c4\u5219<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
4\u3001\u4fee\u6539\u8f6f\u4ef6\u5305\u4fe1\u606f<\/h2>\n\n\n\n
\u6253\u5361package.xml\u6587\u4ef6\uff0c\u4fee\u6539\u8f6f\u4ef6\u5305\u4fe1\u606f<\/p>\n\n\n\n
xml\uff1a\u4e00\u79cd\u7528\u5c16\u62ec\u53f7\u6807\u7b7e\u63cf\u8ff0\u6570\u636e\u7684\u7eaf\u6587\u672c\u683c\u5f0f\uff0c\u53ef\u4ee5\u81ea\u5b9a\u4e49\u6807\u7b7e<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
5\u3001\u7f16\u8bd1\u8f6f\u4ef6\u5305<\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n
6\u3001\u8fd0\u884c\u8282\u70b9<\/h2>\n\n\n\n
source install\/setup.bash<\/code><\/pre>\n\n\n\n
\u5148\u52a0\u8f7d\u5f53\u524d\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u73af\u5883\u8bbe\u7f6e\u53c2\u6570<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5982\u679c\u4e0d\u4e2d\u65ad\uff0c\u4f1a\u4e00\u76f4\u5faa\u73af\u3002<\/p>\n\n\n\n
\uff08slam_toolbox \u5c31\u662f\u4e00\u4e2a ament_cmake \u5305\uff0c\u8ddf my_pkg \u662f\u540c\u4e00\u4e2a\u6a21\u5b50\u51fa\u6765\u7684\uff0c\u53ea\u662f\u529f\u80fd\u591a\u5f97\u591a\u3002\uff09<\/p>\n\n\n\n
\u4e8c\u3001\u8bdd\u9898\u548c\u6d88\u606f<\/h1>\n\n\n\n
\u8282\u70b9\u4e4b\u95f4\u7684\u901a\u4fe1\u6700\u5e38\u7528\u65b9\u5f0f\u5c31\u662f\u8bdd\u9898\u548c\u6d88\u606f\uff0c\u5728\u8bdd\u9898\u804a\u5929\u5ba4\u53d1\u8a00\u7684\u8282\u70b9\uff0c\u53ef\u4ee5\u79f0\u4e3a\u53d1\u5e03\u8005\uff0c\u770b\u5230\u53d1\u8a00\u5185\u5bb9\u7684\u8282\u70b9\uff0c\u6210\u4e3a\u8ba2\u9605\u8005\u3002<\/p>\n\n\n\n
\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u6240\u4f7f\u7528\u7684\u6d88\u606f\u683c\u5f0f\u5fc5\u987b\u4e00\u81f4\u3002<\/p>\n\n\n\n
\u9488\u5bf9\u6211\u5f53\u524d\u7684\u9879\u76ee\uff0c\u60c5\u51b5\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
1\u3001\u7f16\u5199\u8bdd\u9898\u53d1\u5e03\u8005<\/h2>\n\n\n\n
\uff081\uff09\u521b\u5efa\u8f6f\u4ef6\u5305<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff082\uff09\u7f16\u5199\u8282\u70b9\u4ee3\u7801<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5728src\u4e0b\u65b0\u5efa\u6587\u4ef6publisher_node.cpp<\/p>\n\n\n\n
\u7f16\u5199\u5982\u4e0b\u4ee3\u7801\uff1a<\/p>\n\n\n\n
<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5176\u4e2d\uff0c\u53ef\u4ee5\u770b\u5230\u4e00\u4e2a\u8282\u70b9\u53ea\u521b\u5efa\u4e86\u4e00\u4e2a\u53d1\u5e03\u8005\uff0c\u5b9e\u9645\u4e0a\uff0c\u53ef\u521b\u5efa\u591a\u4e2a\u3002<\/p>\n\n\n\n
\u540c\u65f6\uff0c\u8fd8\u63d0\u5230\u4e86\u7f13\u51b2\u961f\u5217\u7684\u6982\u5ff5\uff0c\u9488\u5bf9\u6211\u76ee\u524d\u9879\u76ee\uff0c\u60c5\u51b5\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff083\uff09\u8bbe\u7f6e\u7f16\u8bd1\u89c4\u5219<\/h3>\n\n\n\n
\u5728 CMakeLists.txt\u6dfb\u52a0publisher_node\u8282\u70b9\u7684\u7f16\u8bd1\u89c4\u5219<\/p>\n\n\n\n
A.\u5bfb\u627e\u8282\u70b9\u6e90\u7801\u4e2d\u7528\u5230\u7684\u4f9d\u8d56\u9879<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
B.\u4f7f\u7528\u5982\u4e0b\u4ee3\u7801\u6dfb\u52a0\u8282\u70b9\u6e90\u7801\u7684\u7f16\u8bd1\u89c4\u5219<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
C.\u6700\u540e\u4f7f\u7528\u5982\u4e0b\u4ee3\u7801\u6dfb\u52a0\u8282\u70b9\u7f16\u8bd1\u5b8c\u6210\u540e\u7684\u5b89\u88c5\u89c4\u5219<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff084\uff09\u4fee\u6539\u8f6f\u4ef6\u5305\u4fe1\u606f<\/h3>\n\n\n\n
\u6253\u5361package.xml\uff0c\u6dfb\u52a0\u4f9d\u8d56\u4fe1\u606f\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff085\uff09\u7f16\u8bd1\u8f6f\u4ef6\u5305<\/h3>\n\n\n\n
cd ~\/ros2_ws\ncolcon build<\/code><\/pre>\n\n\n\n
\uff086\uff09\u8fd0\u884c\u8282\u70b9<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5982\u679c\u5173\u95ed\u4e86\u8282\u70b9\u7a0b\u5e8f\uff0c\u90a3\u4e48\u81ea\u7136\u800c\u7136\uff0c\u8bdd\u9898\u4e5f\u5c31\u6d88\u5931\u4e86\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u53ef\u4ee5\u770b\u5230\u8bdd\u9898\u7684\u53d1\u5e03\u8005\u5728\u4e0d\u65ad\u53d1\u9001\u5b57\u7b26\u4e32\u6d88\u606f\uff0c\u5e76\u4e14\u95f4\u96941Hz\u3002<\/p>\n\n\n\n
2\u3001\u7f16\u5199\u8bdd\u9898\u8ba2\u9605\u8005<\/h2>\n\n\n\n
\uff081\uff09\u7f16\u5199\u8282\u70b9\u4ee3\u7801<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff082\uff09\u8bbe\u7f6e\u7f16\u8bd1\u89c4\u5219<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff083\uff09\u7f16\u8bd1\u8f6f\u4ef6\u5305<\/h3>\n\n\n\n
cd ~\/ros2_ws\ncolcon build<\/code><\/pre>\n\n\n\n
\uff084\uff09\u8fd0\u884c\u8282\u70b9<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u6211\u4ece\u6765\u6ca1\u8bbe\u7f6e\u8fc7 ROS_DOMAIN_ID\uff0c\u4e3a\u4ec0\u4e48\u53d1\u5e03\u8282\u70b9\u548c\u8ba2\u9605\u8282\u70b9\u80fd\u4e92\u76f8\u53d1\u73b0\uff1f\u7b54\u6848\u662f\u2014\u2014\u4e0d\u8bbe\u7f6e\u5e76\u4e0d\u7b49\u4e8e”\u6ca1\u6709 domain”\uff0c\u800c\u662f\u9ed8\u8ba4\u53d6 0\u3002ROS 2 \u91cc\u53d6\u503c\u7684\u5730\u65b9\u5199\u5f97\u5f88\u76f4\u767d\uff1aint(os.environ.get(‘ROS_DOMAIN_ID’, 0))\uff0c\u7b2c\u4e8c\u4e2a\u53c2\u6570\u5c31\u662f\u9ed8\u8ba4\u503c\u3002\u4e24\u4e2a\u8282\u70b9\u90fd\u6ca1\u8bbe\uff0c\u4e8e\u662f\u90fd\u843d\u5728 domain 0\uff0c\u81ea\u7136\u5c31\u5728\u540c\u4e00\u4e2a\u901a\u4fe1\u57df\u91cc\u3002domain \u7684\u672c\u8d28\u662f\u4e00\u7ec4\u56fa\u5b9a\u7684 UDP \u7aef\u53e3\u53f7\uff0cFast DDS \u7684\u6362\u7b97\u662f 7400 + 250 \u00d7 domain_id\uff0c\u7528 ss -ulnp \u53bb\u770b domain 0 \u91cc\u67d0\u4e2a\u8282\u70b9\u7ed1\u5b9a\u7684\u7aef\u53e3\uff0c\u4f1a\u53d1\u73b0 7400 \u8d6b\u7136\u5728\u5217\uff1b\u800c\u4e00\u65e6\u6362\u5230 domain 1\uff0c\u6574\u4e2a\u7aef\u53e3\u6bb5\u5e73\u79fb\u5f00\uff0c\u4e24\u5957\u7cfb\u7edf\u5373\u4fbf\u5728\u540c\u4e00\u53f0\u673a\u5668\u3001\u540c\u4e00\u4e2a\u7f51\u6bb5\u4e0a\u4e5f\u4f1a\u4e92\u76f8”\u770b\u4e0d\u89c1”\u3002\u8fd9\u6b63\u662f domain \u5b58\u5728\u7684\u610f\u4e49\u2014\u2014\u5f53\u540c\u4e00\u4e2a\u5c40\u57df\u7f51\u91cc\u8dd1\u7740\u591a\u5957 ROS 2 \u7cfb\u7edf\u65f6\uff0c\u5927\u5bb6\u9ed8\u8ba4\u90fd\u5728 domain 0\uff0c\u8bdd\u9898\u4f1a\u4e32\u5230\u4e00\u8d77\uff0c\u4f60\u53ef\u80fd\u4f1a\u6536\u5230\u672c\u6765\u4e0d\u5c5e\u4e8e\u81ea\u5df1\u7684\u6d88\u606f\uff0c\u8fd9\u65f6\u7ed9\u6bcf\u7ec4\u5206\u914d\u4e0d\u540c\u7684 ROS_DOMAIN_ID \u5c31\u80fd\u5f7c\u6b64\u9694\u79bb\u3002<\/p>\n\n\n\n
\u4e00\u4e2a\u57df\u5206\u5230250\u4e2a\u7aef\u53e3\uff0c\u4f46\u5b9e\u9645\u7528\u4e0d\u5230250\u4e2a\u3002\u5177\u4f53\u591a\u5c11\uff0c\u9700\u8981\u770b\u6709\u591a\u5c11\u8fdb\u7a0b\u3002\u540c\u4e00\u4e2a\u8bdd\u9898\u5728\u4e24\u4e2a\u673a\u5668\uff08\u6bd4\u5982\u6211\u7684Pi\u548c\u672c\u673a\uff09\u5bf9\u5e94\u7684\u5355\u64ad\u6570\u636e\u7aef\u53e3\u4e0d\u4e00\u5b9a\u76f8\u540c\uff0c\u4f46\u591a\u64ad\u53d1\u73b0\u7aef\u53e3\u662f\u76f8\u540c\u7684\u3002<\/p>\n\n\n\n
3\u3001\u9762\u5411\u5bf9\u8c61\u7684\u8282\u70b9\u5b9e\u73b0<\/h2>\n\n\n\n
\u628a\u8282\u70b9\u5c01\u88c5\u6210\u7c7b\u662f ROS 2 \u91cc\u7684\u6807\u51c6\u5199\u6cd5\uff0c\u6838\u5fc3\u601d\u60f3\u662f\u8ba9\u8282\u70b9\u7c7b\u76f4\u63a5\u7ee7\u627f rclcpp::Node\uff0c\u628a\u539f\u5148\u6563\u843d\u5728 main \u51fd\u6570\u548c\u5168\u5c40\u4f5c\u7528\u57df\u91cc\u7684\u4e1c\u897f\u7edf\u7edf\u6536\u8fdb\u7c7b\u5185\u90e8\uff1a\u53d1\u5e03\u8005\u3001\u8ba2\u9605\u8005\u6210\u4e3a\u6210\u5458\u53d8\u91cf\uff0c\u5728\u6784\u9020\u51fd\u6570\u91cc\u521b\u5efa\uff1b\u56de\u8c03\u51fd\u6570\u4ece\u81ea\u7531\u51fd\u6570\u53d8\u6210\u6210\u5458\u51fd\u6570\u3002\u8fd9\u6837\u5199\u6700\u76f4\u63a5\u7684\u6536\u76ca\uff0c\u662f\u89e3\u51b3\u4e86\u56de\u8c03\u51fd\u6570”\u591f\u4e0d\u7740”\u8282\u70b9\u7684\u95ee\u9898\u2014\u2014\u5728\u8ba2\u9605\u8282\u70b9\u7684\u4f8b\u5b50\u91cc\uff0c\u4e4b\u6240\u4ee5\u9700\u8981\u5b9a\u4e49\u4e00\u4e2a\u5168\u5c40\u7684 std::shared_ptr\uff0c\u6b63\u662f\u56e0\u4e3a\u81ea\u7531\u51fd\u6570\u7684\u56de\u8c03\u62ff\u4e0d\u5230\u8282\u70b9\u5bf9\u8c61\uff0c\u53ea\u80fd\u9760\u5168\u5c40\u53d8\u91cf\u53bb\u8c03\u7528 get_logger()\uff1b\u800c\u6539\u6210\u6210\u5458\u51fd\u6570\u4e4b\u540e\uff0cthis \u5929\u7136\u53ef\u8fbe\uff0c\u65e5\u5fd7\u5668\u548c\u6240\u6709\u6210\u5458\u53d8\u91cf\u90fd\u80fd\u76f4\u63a5\u8bbf\u95ee\uff0c\u90a3\u4e2a\u5168\u5c40\u53d8\u91cf\u53ef\u4ee5\u5f7b\u5e95\u5220\u6389\u3002\u5176\u6b21\uff0cmain \u51fd\u6570\u4f1a\u7626\u8eab\u6210\u56fa\u5b9a\u7684\u56db\u6b65\u2014\u2014rclcpp::init\u3001\u6784\u9020\u8282\u70b9\u5bf9\u8c61\u3001rclcpp::spin\u3001rclcpp::shutdown\u2014\u2014\u7a0b\u5e8f\u542f\u52a8\u6d41\u7a0b\u4e0e\u8282\u70b9\u81ea\u8eab\u903b\u8f91\u5f7b\u5e95\u5206\u79bb\uff0c\u8282\u70b9\u7684\u6784\u9020\u5373\u521d\u59cb\u5316\u3001\u6790\u6784\u5373\u91ca\u653e\uff0c\u751f\u547d\u5468\u671f\u4e00\u76ee\u4e86\u7136\u3002\u518d\u8fdb\u4e00\u6b65\uff0c\u7c7b\u8ba9\u8282\u70b9\u53d8\u5f97\u53ef\u590d\u7528\u3001\u53ef\u7ee7\u627f\u3001\u53ef\u6d4b\u8bd5\uff1a\u8bdd\u9898\u540d\u548c\u961f\u5217\u957f\u5ea6\u8fd9\u7c7b\u76ee\u524d\u786c\u7f16\u7801\u7684\u5b57\u9762\u91cf\u53ef\u4ee5\u63d0\u5347\u4e3a\u6784\u9020\u53c2\u6570\u6216\u6210\u5458\u53d8\u91cf\uff0c\u540c\u4e00\u4e2a\u8282\u70b9\u7c7b\u6362\u4e2a\u53c2\u6570\u5c31\u80fd\u8d77\u7b2c\u4e8c\u4e2a\u5b9e\u4f8b\uff1b\u53d1\u5e03\u4e0e\u8ba2\u9605\u4e5f\u80fd\u81ea\u7136\u5730\u653e\u8fdb\u540c\u4e00\u4e2a\u7c7b\u91cc\u505a\u53cc\u5411\u901a\u4fe1\u3002\u5c01\u88c5\u65f6\u6709\u4e00\u4e2a\u5fc5\u987b\u6ce8\u610f\u7684\u5751\u2014\u2014\u8ba2\u9605\u8005\u3001\u53d1\u5e03\u8005\u5bf9\u8c61\u4e00\u5b9a\u8981\u4fdd\u5b58\u4e3a\u6210\u5458\u53d8\u91cf\uff0c\u56e0\u4e3a rclcpp \u5185\u90e8\u5bf9\u5b83\u4eec\u5168\u662f\u5f31\u5f15\u7528\uff08\u8282\u70b9\u6301\u6709\u7684 callback_groups_ \u662f CallbackGroup::WeakPtr \u7684 vector\uff0c\u800c\u56de\u8c03\u7ec4\u91cc\u7684 subscription_ptrs_ \u53c8\u662f SubscriptionBase::WeakPtr \u7684 vector\uff09\uff0c\u4e00\u65e6\u4f60\u53ea\u5728\u6784\u9020\u51fd\u6570\u91cc\u521b\u5efa\u6210\u5c40\u90e8\u53d8\u91cf\u3001\u628a create_subscription \u7684\u8fd4\u56de\u503c\u4e22\u6389\uff0c\u5b83\u4eec\u5728\u6784\u9020\u51fd\u6570\u7ed3\u675f\u65f6\u5c31\u4f1a\u88ab\u6790\u6784\uff0c\u8ba2\u9605\u968f\u4e4b\u9759\u9ed8\u5931\u6548\uff1a\u4e0d\u62a5\u9519\u3001\u4e0d\u544a\u8b66\uff0c\u53ea\u662f\u6c38\u8fdc\u6536\u4e0d\u5230\u6d88\u606f\u3002\u6b64\u5916\uff0c\u8017\u65f6\u6216\u963b\u585e\u7684\u903b\u8f91\u4e0d\u8981\u5199\u8fdb\u6784\u9020\u51fd\u6570\uff0c\u56e0\u4e3a\u90a3\u65f6 spin \u8fd8\u6ca1\u5f00\u59cb\u3002<\/p>\n\n\n\n
\u4e09\u3001Launch\u6587\u4ef6<\/h1>\n\n\n\n
Python<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
XML<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
YAML<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
pkg\u4e3a\u8981\u542f\u52a8\u8282\u70b9\u6240\u5728\u8f6f\u4ef6\u5305\u7684\u540d\u5b57\u3002exec\u4e3a\u8981\u542f\u52a8\u8282\u70b9\u7684\u540d\u5b57\u3002name\u8868\u793a\u8282\u70b9\u542f\u52a8\u540e\uff0c\u5728\u5f53\u524dROS2\u91cc\u7684\u522b\u540d\uff0c\u4e14\u5177\u6709\u552f\u4e00\u6027\u3002<\/p>\n\n\n\n
\u914d\u7f6e\u4e0b\u7f16\u8bd1\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7136\u540e\u7f16\u8bd1\u3002<\/p>\n\n\n\n
\u8fd0\u884cLaunch\u6587\u4ef6\uff0c\u8282\u70b9\u540c\u65f6\u8fd0\u884c\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n","protected":false},"excerpt":{"rendered":"
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