{"id":73860,"date":"2026-02-08T14:20:47","date_gmt":"2026-02-08T06:20:47","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/73860.html"},"modified":"2026-02-08T14:20:47","modified_gmt":"2026-02-08T06:20:47","slug":"%e5%bd%93gazebo%e9%81%87%e4%b8%8aros-2%ef%bc%9a%e8%b7%a8%e6%a1%86%e6%9e%b6%e6%b6%88%e6%81%af%e6%a1%a5%e6%8e%a5%e7%9a%84%e5%a5%87%e5%b9%bb%e4%b9%8b%e6%97%85","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/73860.html","title":{"rendered":"\u5f53Gazebo\u9047\u4e0aROS 2\uff1a\u8de8\u6846\u67b6\u6d88\u606f\u6865\u63a5\u7684\u5947\u5e7b\u4e4b\u65c5"},"content":{"rendered":"<h2>Gazebo\u4e0eROS 2\u7684\u6df1\u5ea6\u96c6\u6210\uff1a\u6d88\u606f\u6865\u63a5\u6280\u672f\u5b9e\u6218\u89e3\u6790<\/h2>\n<h3>1. \u5f02\u6784\u4eff\u771f\u7cfb\u7edf\u7684\u901a\u4fe1\u6311\u6218<\/h3>\n<p>\u5728\u673a\u5668\u4eba\u4eff\u771f\u5f00\u53d1\u9886\u57df\uff0cGazebo\u548cROS 2\u7684\u7ed3\u5408\u5df2\u7ecf\u6210\u4e3a\u884c\u4e1a\u6807\u51c6\u5b9e\u8df5\u3002Gazebo\u4f5c\u4e3a\u7269\u7406\u4eff\u771f\u5f15\u64ce\u63d0\u4f9b\u9ad8\u4fdd\u771f\u7684\u4f20\u611f\u5668\u6a21\u62df\u548c\u73af\u5883\u4ea4\u4e92\uff0c\u800cROS 2\u5219\u8d1f\u8d23\u673a\u5668\u4eba\u7b97\u6cd5\u548c\u903b\u8f91\u63a7\u5236\u3002\u4f46\u4e24\u8005\u91c7\u7528\u5b8c\u5168\u4e0d\u540c\u7684\u901a\u4fe1\u67b6\u6784\uff1a<\/p>\n<ul>\n<li>Gazebo\uff1a\u57fa\u4e8eBoost ASIO\u7684TCP\/IP\u901a\u4fe1\uff0c\u4f7f\u7528Google Protobuf\u8fdb\u884c\u6d88\u606f\u5e8f\u5217\u5316<\/li>\n<li>ROS 2\uff1a\u57fa\u4e8eDDS\uff08\u6570\u636e\u5206\u53d1\u670d\u52a1\uff09\u7684\u53d1\u5e03-\u8ba2\u9605\u6a21\u578b\uff0c\u652f\u6301\u5b9e\u65f6QoS\u7b56\u7565<\/li>\n<\/ul>\n<p>\u8fd9\u79cd\u67b6\u6784\u5dee\u5f02\u5bfc\u81f4\u76f4\u63a5\u901a\u4fe1\u5b58\u5728\u4e09\u5927\u6838\u5fc3\u95ee\u9898\uff1a<\/p>\n<li>\u6d88\u606f\u683c\u5f0f\u4e0d\u517c\u5bb9\uff08Protobuf vs ROS Interface\uff09<\/li>\n<li>\u901a\u4fe1\u534f\u8bae\u5dee\u5f02\uff08TCP\/IP vs DDS\uff09<\/li>\n<li>\u7cfb\u7edf\u65f6\u949f\u4e0d\u540c\u6b65\uff08\u4eff\u771f\u65f6\u95f4 vs \u5b9e\u65f6\u65f6\u949f\uff09<\/li>\n<p>\/\/ Gazebo\u5178\u578b\u6d88\u606f\u53d1\u5e03\u793a\u4f8b<br \/>\ngazebo::transport::PublisherPtr pub = node-&gt;Advertise&lt;gazebo::msgs::Pose&gt;(\\&#8221;~\/pose_example\\&#8221;);<br \/>\ngazebo::msgs::Pose msg;<br \/>\npub-&gt;Publish(msg);<\/p>\n<p>\/\/ ROS 2\u5178\u578b\u6d88\u606f\u53d1\u5e03\u793a\u4f8b<br \/>\nauto pub = create_publisher&lt;std_msgs::msg::String&gt;(\\&#8221;topic\\&#8221;, 10);<br \/>\nauto message = std_msgs::msg::String();<br \/>\npub-&gt;publish(message);<\/p>\n<h3>2. \u6865\u63a5\u67b6\u6784\u8bbe\u8ba1\u4e0e\u5b9e\u73b0<\/h3>\n<h4>2.1 \u4e2d\u95f4\u4ef6\u6838\u5fc3\u7ec4\u4ef6<\/h4>\n<p>\u6211\u4eec\u8bbe\u8ba1\u7684\u4e09\u5c42\u6865\u63a5\u67b6\u6784\u5305\u542b\u4ee5\u4e0b\u5173\u952e\u7ec4\u4ef6\uff1a<\/p>\n<table>\n<tr>\n   \u7ec4\u4ef6\u5c42\u7ea7<br \/>\n   \u529f\u80fd\u63cf\u8ff0<br \/>\n   \u6280\u672f\u5b9e\u73b0<br \/>\n  <\/tr>\n<\/table>\n","protected":false},"excerpt":{"rendered":"<p>Gazebo\u4e0eROS 2\u7684\u6df1\u5ea6\u96c6\u6210\uff1a\u6d88\u606f\u6865\u63a5\u6280\u672f\u5b9e\u6218\u89e3\u6790<br \/>\n1. \u5f02\u6784\u4eff\u771f\u7cfb\u7edf\u7684\u901a\u4fe1\u6311\u6218<br \/>\n\u5728\u673a\u5668\u4eba\u4eff\u771f\u5f00\u53d1\u9886\u57df\uff0cGazebo\u548cROS 2\u7684\u7ed3\u5408\u5df2\u7ecf\u6210\u4e3a\u884c\u4e1a\u6807\u51c6\u5b9e\u8df5\u3002Gazebo\u4f5c\u4e3a\u7269\u7406\u4eff\u771f\u5f15\u64ce\u63d0\u4f9b\u9ad8\u4fdd\u771f\u7684\u4f20\u611f\u5668\u6a21\u62df\u548c\u73af\u5883\u4ea4\u4e92\uff0c\u800cROS 2\u5219\u8d1f\u8d23\u673a\u5668\u4eba\u7b97\u6cd5\u548c\u903b\u8f91\u63a7\u5236\u3002\u4f46\u4e24\u8005\u91c7\u7528\u5b8c\u5168\u4e0d\u540c\u7684\u901a\u4fe1\u67b6\u6784\uff1a Gazebo\uff1a\u57fa\u4e8eBoost ASIO\u7684TCP\/IP\u901a\u4fe1\uff0c\u4f7f\u7528Google Protobuf\u8fdb\u884c\u6d88\u606f\u5e8f\u5217\u5316 ROS 2\uff1a\u57fa\u4e8eDDS\uff08\u6570\u636e\u5206\u53d1\u670d\u52a1\uff09\u7684\u53d1\u5e03-\u8ba2\u9605\u6a21\u578b\uff0c\u652f\u6301\u5b9e\u65f6QoS\u7b56<\/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":[6484,7793,7794,3340],"topic":[],"class_list":["post-73860","post","type-post","status-publish","format-standard","hentry","category-server","tag-gazebo","tag-ros-2","tag-7794","tag-3340"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - 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