{"id":73,"date":"2025-05-09T16:17:01","date_gmt":"2025-05-09T08:17:01","guid":{"rendered":"http:\/\/101.201.44.100\/?p=73"},"modified":"2025-12-24T14:03:05","modified_gmt":"2025-12-24T06:03:05","slug":"ros%e6%a1%88%e4%be%8b%e7%9a%84%e5%ae%9e%e7%8e%b0","status":"publish","type":"post","link":"https:\/\/momozi.online\/index.php\/2025\/05\/09\/ros%e6%a1%88%e4%be%8b%e7%9a%84%e5%ae%9e%e7%8e%b0\/","title":{"rendered":"ros\u6848\u4f8b\u7684\u5b9e\u73b0"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">1.\u5148\u521b\u5efa\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4\uff1b<br>2.\u518d\u521b\u5efa\u4e00\u4e2a\u529f\u80fd\u5305\uff1b <br>3.\u7f16\u8f91\u6e90\u6587\u4ef6\uff1b<br>4.\u7f16\u8f91\u914d\u7f6e\u6587\u4ef6\uff1b<br>5.\u7f16\u8bd1\u5e76\u6267\u884c<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4\u548c\u529f\u80fd\u5305<\/h2>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\n\/\/\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4\u6587\u4ef6\u5939\nmkdir -p \u81ea\u5b9a\u4e49\u7a7a\u95f4\u540d\u79f0\/scr\n\u200b\n\/\/\u8fdb\u5165\u5de5\u4f5c\u7a7a\u95f4\ncd \u81ea\u5b9a\u4e49\u7a7a\u95f4\u540d\u79f0\n\u200b\n\/\/ros\u5185\u7f6e\u7684\u7f16\u8bd1\u547d\u4ee4\ncatkin_make\n\u200b\ncd src\n\u200b\n\/\/\u521b\u5efa\u4e00\u4e2a\u529f\u80fd\u5305\ncatkin_create_pag \u529f\u80fd\u5305\u540d roscpp rospy std_msgs\/\/\u4f9d\u8d56\u540d \n\u200b\n<\/pre><\/div>\n\n\n<p class=\"wp-block-paragraph\">roscpp \u662f\u4f7f\u7528C++\u6807\u51c6\u5b9e\u73b0\u7684\u5e93 rospy \u662f\u4f7f\u7528python\u5b9e\u73b0\u7684\u5e93 std_msgs \u662f\u6807\u51c6\u6d88\u606f\u5e93 \u521b\u5efaros\u529f\u80fd\u5305\u65f6\u4e00\u822c\u90fd\u4f1a\u4f9d\u8d56\u8fd9\u4e09\u8005<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">##\u5b9e\u73b0Hello World<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u7f16\u8f91\u6e90\u6587\u4ef6<\/h3>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\n\/\/\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4\u6587\u4ef6\u5939\nmkdir -p \u81ea\u5b9a\u4e49\u7a7a\u95f4\u540d\u79f0\/scr\n\u200b\n\/\/\u8fdb\u5165\u5de5\u4f5c\u7a7a\u95f4\ncd \u81ea\u5b9a\u4e49\u7a7a\u95f4\u540d\u79f0\n\u200b\n\/\/ros\u5185\u7f6e\u7684\u7f16\u8bd1\u547d\u4ee4\ncatkin_make\n\u200b\ncd src\n\u200b\n\/\/\u521b\u5efa\u4e00\u4e2a\u529f\u80fd\u5305\ncatkin_create_pag \u529f\u80fd\u5305\u540d roscpp rospy std_msgs\/\/\u4f9d\u8d56\u540d \n\u200b\n<\/pre><\/div>\n\n\n<p class=\"wp-block-paragraph\">\u6253\u5f00\u521b\u5efa\u597d\u7684\u7b97\u6cd5\u5305\u8fdb\u884c\u7f16\u8f91 \u5982\u679c\u662f\u7528<code>gedit<\/code>\u6307\u4ee4\u521b\u5efa\u7684 \u5c06\u81ea\u52a8\u6253\u5f00<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\n\/\/\u5305\u542bros\u7684\u5934\u6587\u4ef6\n#include&quot;ros\/ros.h&quot;\n\u200b\nint main(int argc,char *argv&#x5B;]){\n    \/\/\u521d\u59cb\u5316ros\u8282\u70b9\n    ros::init(argc,argv,&quot;he_wo&quot;);\n    \/\/\u8f93\u51fa\u65e5\u5fd7\n    ROS_INFO(&quot;hello world!!!&quot;);\n}\n<\/pre><\/div>\n\n\n<h3 class=\"wp-block-heading\">\u7f16\u8f91\u914d\u7f6e\u6587\u4ef6<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u53ef\u4ee5\u4f7f\u7528<code>ctrl<\/code>+<code>f<\/code> \u5feb\u901f\u627e\u5230\u4ee5\u4e0b\u6587\u672c<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\nadd_executable(&lt;\u81ea\u5b9a\u4e49\u6e90\u6587\u4ef6\u6620\u5c04\u540d&gt; src\/&lt;\u7b97\u6cd5\u6e90\u6587\u4ef6\u540d.cpp&gt;)\n\u200b\ntarget_link_librarise(&lt;\u6620\u5c04\u540d&gt; \n  ${catkin_LIBRARIES}\n  )\n &amp;nbsp;\n<\/pre><\/div>\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5b9e\u9645\u4f7f\u7528\u4e2d\u5c3d\u91cf\u4f7f\u6620\u5c04\u540d\u4e8e\u6e90\u6587\u4ef6\u540d\u4e00\u81f4<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u8fdb\u5165\u5de5\u4f5c\u7a7a\u95f4\u5e76\u7f16\u8bd1<\/h3>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\ncd \u7a7a\u95f4\u540d\ncatkin_make\n\u200b\n<\/pre><\/div>\n\n\n<h3 class=\"wp-block-heading\">\u6267\u884c<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5355\u72ec\u7684\u7ec8\u7aef\u8fd0\u884c<code>roscore<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u65b0\u7ec8\u7aef\u8fd0\u884c<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\ncd \u7a7a\u95f4\u540d\nsource .\/devel\/setup.bash\nrosrun \u5305\u540d \u6620\u5c04\u540d\n<\/pre><\/div>\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>1.\u5148\u521b\u5efa\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4\uff1b2.\u518d\u521b\u5efa\u4e00\u4e2a\u529f\u80fd\u5305\uff1b 3.\u7f16\u8f91\u6e90\u6587\u4ef6\uff1b4.\u7f16\u8f91\u914d\u7f6e\u6587\u4ef6\uff1b5.\u7f16\u8bd1\u5e76\u6267\u884c \u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5,1],"tags":[],"class_list":["post-73","post","type-post","status-publish","format-standard","hentry","category-ros","category-learn"],"_links":{"self":[{"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/posts\/73","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/comments?post=73"}],"version-history":[{"count":4,"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/posts\/73\/revisions"}],"predecessor-version":[{"id":113,"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/posts\/73\/revisions\/113"}],"wp:attachment":[{"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/media?parent=73"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/categories?post=73"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/momozi.online\/index.php\/wp-json\/wp\/v2\/tags?post=73"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}