{"id":71881,"date":"2026-02-04T13:24:51","date_gmt":"2026-02-04T05:24:51","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/71881.html"},"modified":"2026-02-04T13:24:51","modified_gmt":"2026-02-04T05:24:51","slug":"ros%e9%87%8c%e9%9d%a2%e7%9a%84%e4%b8%a4%e4%b8%aa%e5%9b%ba%e5%ae%9a%e8%8a%82%e7%82%b9%ef%bc%8crobot_state_publisher%e5%92%8cjoint_state_publisher","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/71881.html","title":{"rendered":"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher"},"content":{"rendered":"

joint_state_publisher\u00a0 \u4e0e \u00a0robot_state_publisher\u00a0 \u6df1\u5ea6\u89e3\u6790<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u4e00\u3001\u00a0joint_state_publisher\u00a0：\u5173\u8282\u72b6\u6001\u7684\u201c\u751f\u6210\u5668\u201d<\/p>\n

\u00a0<\/p>\n

1. \u6838\u5fc3\u5b9a\u4f4d<\/p>\n

\u00a0<\/p>\n

\u5b83\u662f\u4e00\u4e2a\u5173\u8282\u72b6\u6001\u81ea\u52a8\u751f\u6210\u5de5\u5177，\u4e13\u95e8\u89e3\u51b3\u201c\u9759\u6001\u6a21\u578b\u6ca1\u6709\u5173\u8282\u6570\u636e\u201d\u7684\u95ee\u9898，\u65e0\u9700\u4f60\u624b\u52a8\u5199\u4ee3\u7801\u53d1\u5e03\u5173\u8282\u72b6\u6001\u3002<\/p>\n

\u00a0<\/p>\n

2. \u5de5\u4f5c\u539f\u7406<\/p>\n

\u00a0<\/p>\n

– \u81ea\u52a8\u89e3\u6790\u6a21\u578b：\u4ece \u00a0robot_description\u00a0 \u53c2\u6570\u4e2d\u8bfb\u53d6 URDF\/Xacro \u6a21\u578b，\u8bc6\u522b\u6240\u6709\u975e\u56fa\u5b9a\u5173\u8282（\u5982\u65cb\u8f6c\u5173\u8282\u3001\u79fb\u52a8\u5173\u8282）\u3002<\/p>\n

– \u81ea\u52a8\u751f\u6210\u6570\u636e：<\/p>\n

– \u82e5\u6ca1\u6709\u771f\u5b9e\u5173\u8282\u6570\u636e（\u5982\u9759\u6001\u53ef\u89c6\u5316\u573a\u666f），\u9ed8\u8ba4\u7ed9\u6240\u6709\u5173\u8282\u8d4b\u503c\u4e3a \u00a00\u00a0（\u521d\u59cb\u89d2\u5ea6）\u3002<\/p>\n

– \u82e5\u914d\u7f6e\u4e86 \u00a0use_gui:=true\u00a0，\u4f1a\u5f39\u51fa\u6ed1\u52a8\u6761\u63a7\u5236\u9762\u677f，\u8ba9\u4f60\u624b\u52a8\u8c03\u6574\u5173\u8282\u89d2\u5ea6\u3002<\/p>\n

– \u81ea\u52a8\u53d1\u5e03\u8bdd\u9898：\u5c06\u5173\u8282\u540d\u79f0\u3001\u4f4d\u7f6e\u3001\u901f\u5ea6\u7b49\u4fe1\u606f\u6253\u5305\u6210 \u00a0sensor_msgs\/JointState\u00a0 \u6d88\u606f，\u53d1\u5e03\u5230 \u00a0\/joint_states\u00a0 \u8bdd\u9898\u3002<\/p>\n

\u00a0<\/p>\n

3. \u5173\u952e\u7279\u70b9<\/p>\n

\u00a0<\/p>\n

– \u65e0\u4fb5\u5165\u5f0f：\u4e0d\u9700\u8981\u4fee\u6539\u6a21\u578b\u6216\u5199\u989d\u5916\u4ee3\u7801，\u4ec5\u9700\u5728 launch \u4e2d\u542f\u52a8\u8282\u70b9\u5373\u53ef\u3002<\/p>\n

– \u8c03\u8bd5\u53cb\u597d：\u6ed1\u52a8\u6761\u63a7\u5236\u9762\u677f\u53ef\u5b9e\u65f6\u8c03\u6574\u5173\u8282\u89d2\u5ea6，\u5feb\u901f\u9a8c\u8bc1\u6a21\u578b\u8fd0\u52a8\u8303\u56f4\u3002<\/p>\n

– \u4ec5\u751f\u6210\u6570\u636e：\u4e0d\u53c2\u4e0e\u8fd0\u52a8\u5b66\u8ba1\u7b97，\u53ea\u8d1f\u8d23\u63d0\u4f9b\u5173\u8282\u89d2\u5ea6\u7684\u201c\u8f93\u5165\u503c\u201d\u3002<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u4e8c\u3001\u00a0robot_state_publisher\u00a0：\u4f4d\u59ff\u8ba1\u7b97\u7684\u201c\u7ffb\u8bd1\u5b98\u201d<\/p>\n

\u00a0<\/p>\n

1. \u6838\u5fc3\u5b9a\u4f4d<\/p>\n

\u00a0<\/p>\n

\u5b83\u662f\u4e00\u4e2a\u8fd0\u52a8\u5b66\u8ba1\u7b97\u8282\u70b9，\u8d1f\u8d23\u5c06\u5173\u8282\u89d2\u5ea6\u8f6c\u6362\u6210\u673a\u5668\u4eba\u5404\u8fde\u6746\u7684 3D \u4f4d\u59ff，\u662f\u8fde\u63a5\u5173\u8282\u6570\u636e\u4e0e\u53ef\u89c6\u5316\u7684\u5173\u952e\u73af\u8282\u3002<\/p>\n

\u00a0<\/p>\n

2. \u5de5\u4f5c\u539f\u7406<\/p>\n

\u00a0<\/p>\n

– \u53cc\u8f93\u5165\u6e90：<\/p>\n

1.\u00a0\u4ece \u00a0robot_description\u00a0 \u8bfb\u53d6\u673a\u5668\u4eba\u7684\u8fde\u6746\u3001\u5173\u8282\u7ed3\u6784（\u8fd0\u52a8\u5b66\u6a21\u578b）\u3002<\/p>\n

2.\u00a0\u4ece \u00a0\/joint_states\u00a0 \u8bdd\u9898\u8bfb\u53d6\u5173\u8282\u89d2\u5ea6\u6570\u636e（\u6765\u81ea \u00a0joint_state_publisher\u00a0 \u6216\u771f\u5b9e\u786c\u4ef6）\u3002<\/p>\n

– \u8fd0\u52a8\u5b66\u8ba1\u7b97：\u6839\u636e\u6a21\u578b\u7684 DH \u53c2\u6570\u6216 URDF \u4e2d\u7684\u5173\u8282\u5173\u7cfb，\u8ba1\u7b97\u6bcf\u4e2a\u8fde\u6746\u76f8\u5bf9\u4e8e \u00a0base_link\u00a0 \u7684 3D \u4f4d\u59ff（\u5e73\u79fb+\u65cb\u8f6c）\u3002<\/p>\n

– \u53d1\u5e03 TF \u53d8\u6362：\u5c06\u6bcf\u4e2a\u8fde\u6746\u7684\u4f4d\u59ff\u53d1\u5e03\u4e3a TF \u53d8\u6362（\u8bdd\u9898 \u00a0\/tf\u00a0），RVIZ \u6b63\u662f\u901a\u8fc7\u8fd9\u4e9b TF \u6570\u636e\u6765\u6e32\u67d3\u6a21\u578b\u7684\u6b63\u786e\u59ff\u6001\u3002<\/p>\n

\u00a0<\/p>\n

3. \u5173\u952e\u7279\u70b9<\/p>\n

\u00a0<\/p>\n

– \u4f9d\u8d56\u6a21\u578b\u7ed3\u6784：\u5fc5\u987b\u6709\u5b8c\u6574\u7684 URDF\/Xacro \u6a21\u578b，\u5426\u5219\u65e0\u6cd5\u8ba1\u7b97\u4f4d\u59ff\u3002<\/p>\n

– \u5b9e\u65f6\u6027\u9ad8：\u5173\u8282\u89d2\u5ea6\u53d8\u5316\u65f6，\u4f1a\u7acb\u523b\u91cd\u65b0\u8ba1\u7b97\u5e76\u53d1\u5e03\u65b0\u7684 TF \u53d8\u6362\u3002<\/p>\n

– \u6838\u5fc3\u4f9d\u8d56：\u6ca1\u6709\u5b83，RVIZ \u65e0\u6cd5\u77e5\u9053\u6bcf\u4e2a\u8fde\u6746\u8be5\u653e\u5728\u54ea\u91cc，\u6a21\u578b\u4f1a\u663e\u793a\u5f02\u5e38\u3002<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u4e09\u3001\u4e24\u8005\u534f\u4f5c\u903b\u8f91（\u5b8c\u6574\u53ef\u89c6\u5316\u6d41\u7a0b）<\/p>\n

\u00a0<\/p>\n

plaintext<\/p>\n

Xacro\u6a21\u578b \u2192 [xacro\u5de5\u5177] \u2192 URDF \u2192 \u5b58\u5165robot_description\u53c2\u6570<\/p>\n

\u00a0 \u00a0 \u2193<\/p>\n

joint_state_publisher \u2192 \u89e3\u6790\u6a21\u578b \u2192 \u751f\u6210\u5173\u8282\u72b6\u6001 \u2192 \u53d1\u5e03\/joint_states<\/p>\n

\u00a0 \u00a0 \u2193<\/p>\n

robot_state_publisher \u2192 \u8bfb\u53d6\u6a21\u578b+\u5173\u8282\u72b6\u6001 \u2192 \u8ba1\u7b97\u8fde\u6746\u4f4d\u59ff \u2192 \u53d1\u5e03\/tf<\/p>\n

\u00a0 \u00a0 \u2193<\/p>\n

RVIZ \u2192 \u8bfb\u53d6TF+\u6a21\u578b\u6570\u636e \u2192 \u6e32\u67d3\u673a\u5668\u4eba\u6a21\u578b<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

1.\u00a0\u6a21\u578b\u52a0\u8f7d：Xacro \u8f6c\u6210 URDF \u540e，\u5b58\u5165 \u00a0robot_description\u00a0 \u53c2\u6570，\u4f9b\u4e24\u4e2a\u8282\u70b9\u5171\u540c\u8bfb\u53d6\u3002<\/p>\n

2.\u00a0\u5173\u8282\u6570\u636e\u8f93\u5165：\u00a0joint_state_publisher\u00a0 \u751f\u6210\u5173\u8282\u89d2\u5ea6，\u4f5c\u4e3a\u8fd0\u52a8\u5b66\u8ba1\u7b97\u7684\u8f93\u5165\u3002<\/p>\n

3.\u00a0\u4f4d\u59ff\u8ba1\u7b97\u8f93\u51fa：\u00a0robot_state_publisher\u00a0 \u8ba1\u7b97\u51fa\u8fde\u6746\u4f4d\u59ff，\u8f93\u51fa\u4e3a TF \u53d8\u6362\u3002<\/p>\n

4.\u00a0\u53ef\u89c6\u5316\u6e32\u67d3：RVIZ \u6839\u636e TF \u53d8\u6362，\u628a\u6bcf\u4e2a\u8fde\u6746\u6309\u6b63\u786e\u4f4d\u7f6e\u548c\u89d2\u5ea6\u663e\u793a\u51fa\u6765\u3002<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u56db\u3001\u5b9e\u9645\u573a\u666f\u4e2d\u7684\u7528\u6cd5<\/p>\n

\u00a0<\/p>\n

1. \u9759\u6001\u6a21\u578b\u53ef\u89c6\u5316（\u4f60\u5f53\u524d\u7684\u573a\u666f）<\/p>\n

\u00a0<\/p>\n

– \u542f\u52a8 \u00a0joint_state_publisher\u00a0（\u5e26 GUI）\u548c \u00a0robot_state_publisher\u00a0\u3002<\/p>\n

– \u62d6\u52a8\u6ed1\u52a8\u6761\u8c03\u6574\u5173\u8282\u89d2\u5ea6，\u5b9e\u65f6\u67e5\u770b\u6a21\u578b\u8fd0\u52a8\u6548\u679c，\u9a8c\u8bc1\u5173\u8282\u9650\u4f4d\u662f\u5426\u6b63\u786e\u3002<\/p>\n

\u00a0<\/p>\n

2. \u771f\u5b9e\u673a\u5668\u4eba\u63a7\u5236<\/p>\n

\u00a0<\/p>\n

– \u771f\u5b9e\u673a\u5668\u4eba\u7684\u5173\u8282\u89d2\u5ea6\u7531\u786c\u4ef6\u9a71\u52a8\u53d1\u5e03\u5230 \u00a0\/joint_states\u00a0 \u8bdd\u9898，\u65e0\u9700\u542f\u52a8 \u00a0joint_state_publisher\u00a0\u3002<\/p>\n

– \u00a0robot_state_publisher\u00a0 \u76f4\u63a5\u8bfb\u53d6\u786c\u4ef6\u7684\u5173\u8282\u6570\u636e，\u8ba1\u7b97\u5e76\u53d1\u5e03 TF \u53d8\u6362，\u8ba9 RVIZ \u663e\u793a\u771f\u5b9e\u673a\u5668\u4eba\u7684\u59ff\u6001\u3002<\/p>\n

\u00a0<\/p>\n

3. \u8fd0\u52a8\u89c4\u5212（MoveIt! \u573a\u666f）<\/p>\n

\u00a0<\/p>\n

– MoveIt! \u4f1a\u89c4\u5212\u51fa\u5173\u8282\u8f68\u8ff9，\u53d1\u5e03\u5230 \u00a0\/joint_states\u00a0 \u8bdd\u9898\u3002<\/p>\n

– \u00a0robot_state_publisher\u00a0 \u8ba1\u7b97\u8f68\u8ff9\u5bf9\u5e94\u7684\u8fde\u6746\u4f4d\u59ff，\u4f9b RVIZ \u53ef\u89c6\u5316\u89c4\u5212\u8def\u5f84\u3002<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u4e94\u3001\u9ad8\u9891\u95ee\u9898\u6392\u67e5<\/p>\n

\u00a0<\/p>\n

1. \u6a21\u578b\u663e\u793a\u4e0d\u51fa\u6765<\/p>\n

\u00a0<\/p>\n

– \u68c0\u67e5 RVIZ \u7684 \u00a0Fixed Frame\u00a0 \u662f\u5426\u8bbe\u4e3a \u00a0base_link\u00a0\u3002<\/p>\n

– \u68c0\u67e5 \u00a0\/joint_states\u00a0 \u8bdd\u9898\u662f\u5426\u6709\u6570\u636e（\u7528 \u00a0rostopic echo \/joint_states\u00a0 \u67e5\u770b）\u3002<\/p>\n

– \u68c0\u67e5 \u00a0robot_state_publisher\u00a0 \u662f\u5426\u6b63\u5e38\u542f\u52a8（\u7528 \u00a0rosnode list\u00a0 \u67e5\u770b\u8282\u70b9\u662f\u5426\u5b58\u5728）\u3002<\/p>\n

\u00a0<\/p>\n

2. \u5173\u8282\u6ed1\u52a8\u6761\u6ca1\u51fa\u73b0<\/p>\n

\u00a0<\/p>\n

– \u786e\u4fdd launch \u4e2d\u8bbe\u7f6e\u4e86 \u00a0<param name="use_gui" value="true" \/>\u00a0\u3002<\/p>\n

– \u68c0\u67e5 \u00a0joint_state_publisher\u00a0 \u8282\u70b9\u662f\u5426\u6b63\u5e38\u542f\u52a8\u3002<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n

\u00a0<\/p>\n","protected":false},"excerpt":{"rendered":"

joint_state_publisher\u00a0 \u4e0e \u00a0robot_state_publisher\u00a0 \u6df1\u5ea6\u89e3\u6790\u4e00\u3001\u00a0joint_state_publisher\u00a0：\u5173\u8282\u72b6\u6001\u7684\u201c\u751f\u6210\u5668\u201d1. \u6838\u5fc3\u5b9a\u4f4d\u5b83\u662f\u4e00\u4e2a\u5173\u8282\u72b6\u6001\u81ea\u52a8\u751f\u6210\u5de5\u5177，\u4e13\u95e8\u89e3\u51b3\u201c\u9759\u6001\u6a21\u578b\u6ca1\u6709\u5173\u8282\u6570\u636e\u201d\u7684\u95ee\u9898，\u65e0\u9700\u4f60\u624b\u52a8\u5199\u4ee3\u7801\u53d1\u5e03\u5173\u8282\u72b6\u6001\u30022. \u5de5\u4f5c\u539f\u7406- \u81ea\u52a8\u89e3\u6790\u6a21\u578b：\u4ece \u00a0robot_description\u00a0 \u53c2\u6570\u4e2d\u8bfb\u53d6 URDF\/Xacro \u6a21\u578b，\u8bc6<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[103,50],"topic":[],"class_list":["post-71881","post","type-post","status-publish","format-standard","hentry","category-server","tag-ubuntu","tag-50"],"yoast_head":"\nros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/71881.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"joint_state_publisher\u00a0 \u4e0e \u00a0robot_state_publisher\u00a0 \u6df1\u5ea6\u89e3\u6790\u4e00\u3001\u00a0joint_state_publisher\u00a0：\u5173\u8282\u72b6\u6001\u7684\u201c\u751f\u6210\u5668\u201d1. \u6838\u5fc3\u5b9a\u4f4d\u5b83\u662f\u4e00\u4e2a\u5173\u8282\u72b6\u6001\u81ea\u52a8\u751f\u6210\u5de5\u5177，\u4e13\u95e8\u89e3\u51b3\u201c\u9759\u6001\u6a21\u578b\u6ca1\u6709\u5173\u8282\u6570\u636e\u201d\u7684\u95ee\u9898，\u65e0\u9700\u4f60\u624b\u52a8\u5199\u4ee3\u7801\u53d1\u5e03\u5173\u8282\u72b6\u6001\u30022. \u5de5\u4f5c\u539f\u7406- \u81ea\u52a8\u89e3\u6790\u6a21\u578b：\u4ece \u00a0robot_description\u00a0 \u53c2\u6570\u4e2d\u8bfb\u53d6 URDF\/Xacro \u6a21\u578b，\u8bc6\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/71881.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-02-04T05:24:51+00:00\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"1 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/71881.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/71881.html\",\"name\":\"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-02-04T05:24:51+00:00\",\"dateModified\":\"2026-02-04T05:24:51+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/71881.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/71881.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/71881.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/71881.html","og_locale":"zh_CN","og_type":"article","og_title":"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"joint_state_publisher\u00a0 \u4e0e \u00a0robot_state_publisher\u00a0 \u6df1\u5ea6\u89e3\u6790\u4e00\u3001\u00a0joint_state_publisher\u00a0：\u5173\u8282\u72b6\u6001\u7684\u201c\u751f\u6210\u5668\u201d1. \u6838\u5fc3\u5b9a\u4f4d\u5b83\u662f\u4e00\u4e2a\u5173\u8282\u72b6\u6001\u81ea\u52a8\u751f\u6210\u5de5\u5177，\u4e13\u95e8\u89e3\u51b3\u201c\u9759\u6001\u6a21\u578b\u6ca1\u6709\u5173\u8282\u6570\u636e\u201d\u7684\u95ee\u9898，\u65e0\u9700\u4f60\u624b\u52a8\u5199\u4ee3\u7801\u53d1\u5e03\u5173\u8282\u72b6\u6001\u30022. \u5de5\u4f5c\u539f\u7406- \u81ea\u52a8\u89e3\u6790\u6a21\u578b：\u4ece \u00a0robot_description\u00a0 \u53c2\u6570\u4e2d\u8bfb\u53d6 URDF\/Xacro \u6a21\u578b，\u8bc6","og_url":"https:\/\/www.wsisp.com\/helps\/71881.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-02-04T05:24:51+00:00","author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"1 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/71881.html","url":"https:\/\/www.wsisp.com\/helps\/71881.html","name":"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-02-04T05:24:51+00:00","dateModified":"2026-02-04T05:24:51+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/71881.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/71881.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/71881.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"ros\u91cc\u9762\u7684\u4e24\u4e2a\u56fa\u5b9a\u8282\u70b9\uff0crobot_state_publisher\u548cjoint_state_publisher"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/71881","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=71881"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/71881\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=71881"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=71881"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=71881"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=71881"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}