ROS 2 \u5168\u6808\u4ece\u5165\u95e8\u5230\u7cbe\u901a｜\u4f01\u4e1a\u7ea7\u5b9e\u6218\u624b\u518c<\/p>\n
\u5403\u900f\u8fd9\u4e00\u7bc7，\u9762\u8bd5\u76f4\u63a5\u6309\u8d44\u6df1\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u8c08<\/p>\n
\u00a0\u5168\u662f\u4e0a\u73ed\u80fd\u76f4\u63a5\u7528\u3001\u9762\u8bd5\u80fd\u76f4\u63a5\u80cc\u7684\u5e72\u8d27<\/p>\n
\u4eba\u5f62\u673a\u5668\u4eba \/ \u673a\u68b0\u81c2 \/ AGV \/ \u5177\u8eab\u667a\u80fd \u901a\u7528\u5e95\u5c42\u6280\u672f<\/p>\n<\/p>\n
ROS 2 \u4f01\u4e1a\u7ea7\u5168\u6808\u5b9e\u6218<\/p>\n
\u5b66\u5b8c = \u80fd\u4e0a\u5c97 = \u80fd\u9762\u8bd5 = \u80fd\u6da8\u85aa<\/p>\n
\u00a0\u672c\u4e13\u680f\u4e0d\u8bb2\u7406\u8bba\u3001\u4e0d\u7ed5\u5f2f\u5b50，<\/p>\n
\u5168\u7a0b\u6309\u7167\u4f01\u4e1a\u771f\u5b9e\u5f00\u53d1\u903b\u8f91\u7f16\u5199，<\/p>\n
\u4ece\u73af\u5883\u642d\u5efa\u3001\u901a\u4fe1\u3001\u5efa\u6a21\u3001\u5b9a\u4f4d\u3001\u5bfc\u822a\u5230\u673a\u68b0\u81c2\u63a7\u5236，<\/p>\n
\u4e00\u5957\u6253\u901a ROS 2 \u5168\u6808\u6280\u672f\u3002<\/p>\n
\u9002\u5408：\u673a\u5668\u4eba\u5f00\u53d1\u3001\u4eba\u5f62\u673a\u5668\u4eba\u3001\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u68b0\u81c2\u3001\u5177\u8eab\u667a\u80fd\u5c97\u4f4d\u3002<\/p>\n
\u770b\u5b8c\u8fd9\u7bc7，\u4f60\u51fa\u53bb\u5e94\u8058\u5c31\u662f\u8d44\u6df1\u8001\u624b\u3002<\/p>\n
ROS 2 \u5168\u6808\u4ece\u5165\u95e8\u5230\u7cbe\u901a｜\u4f01\u4e1a\u7ea7\u5b9e\u6218\u624b\u518c<\/p>\n
\u5403\u900f\u8fd9\u4e00\u7bc7，\u9762\u8bd5\u76f4\u63a5\u6309\u8d44\u6df1\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u8c08<\/p>\n<\/p>\n
\u5927\u5bb6\u597d，\u672c\u7bc7\u4e0d\u641e\u865a\u5934\u5df4\u8111\u7684\u7406\u8bba，\u4e0d\u8bb2\u82b1\u91cc\u80e1\u54e8\u7684\u6982\u5ff5，\u5168\u7a0b\u4f01\u4e1a\u771f\u5b9e\u5f00\u53d1\u903b\u8f91 + \u53ef\u8fd0\u884c\u4ee3\u7801 + \u9762\u8bd5\u5fc5\u8003\u70b9 + \u4e0a\u5c97\u5373\u7528\u6280\u80fd\u3002<\/p>\n
\u00a0\u5728\u673a\u5668\u4eba\u884c\u4e1a，ROS 2 \u662f\u5e95\u5c42\u901a\u7528\u6807\u51c6，\u4e0d\u7ba1\u662f\u5177\u8eab\u667a\u80fd\u3001\u4eba\u5f62\u673a\u5668\u4eba\u3001\u79fb\u52a8\u5e95\u76d8\u8fd8\u662f\u5de5\u4e1a\u673a\u68b0\u81c2，\u6240\u6709\u80fd\u5546\u7528\u3001\u80fd\u843d\u5730\u3001\u5408\u89c4\u5b89\u5168\u7684\u65b9\u6848，\u5e95\u5c42\u5168\u662f\u8fd9\u5957\u4f53\u7cfb\u3002<\/p>\n
\u4f60\u628a\u8fd9\u7bc7\u5b66\u5b8c，\u51fa\u53bb\u5e94\u8058，\u4e0d\u7528\u88c5，\u4f60\u5c31\u662f\u8d44\u6df1\u8001\u624b\u3002<\/p>\n
\u00a0\u4e00\u3001\u4e3a\u4ec0\u4e48\u5fc5\u987b\u5b66 ROS 2 \u5168\u6808？<\/p>\n
\u00a01.\u00a0\u5168\u884c\u4e1a\u901a\u7528：\u4eba\u5f62\u673a\u5668\u4eba\u3001AGV\/AMR\u3001\u673a\u68b0\u81c2\u3001\u670d\u52a1\u673a\u5668\u4eba，100% \u57fa\u4e8e ROS 2 \u5f00\u53d1<\/p>\n
2.\u00a0\u672c\u5730\u95ed\u73af\u6700\u5b89\u5168：\u4e0d\u4e0a\u4e91\u3001\u4e0d\u4f9d\u8d56\u5916\u7f51\u3001\u65e0\u5ef6\u8fdf\u3001\u65e0\u52ab\u6301\u98ce\u9669，\u5408\u89c4\u65e0\u628a\u67c4<\/p>\n
3.\u00a0\u4e0a\u5c97\u786c\u901a\u8d27：\u4f1a ROS 2 = \u80fd\u8fdb\u673a\u5668\u4eba\u7814\u53d1\u5c97；\u7cbe\u901a ROS 2 = \u9ad8\u85aa\u6838\u5fc3\u5c97<\/p>\n
4.\u00a0AI \u5927\u6a21\u578b\u65e0\u6cd5\u66ff\u4ee3：\u5927\u6a21\u578b\u7ba1\u201c\u601d\u8003\u201d，ROS 2 \u7ba1\u201c\u52a8\u4f5c\u201d，\u673a\u5668\u4eba\u80fd\u52a8\u5168\u9760\u5b83<\/p>\n<\/p>\n
\u672c\u6587\u5168\u7a0b\u6309\u7167\u4f01\u4e1a\u771f\u5b9e\u5f00\u53d1\u6d41\u7a0b\u7f16\u5199，\u9644\u5e26\u53ef\u76f4\u63a5\u590d\u5236\u8fd0\u884c\u7684\u4ee3\u7801，\u5b66\u5b8c\u5373\u53ef\u72ec\u7acb\u8d1f\u8d23\u673a\u5668\u4eba\u9879\u76ee\u3002<\/p>\n<\/p>\n
\u00a0\u4e8c\u3001\u5f00\u53d1\u73af\u5883\u642d\u5efa（\u4f01\u4e1a\u6700\u7a33\u7248\u672c：ROS 2 Humble）<\/p>\n
\u00a0\u4e0a\u73ed\u7b2c\u4e00\u5929\u7b2c\u4e00\u4ef6\u4e8b，\u9762\u8bd5\u5e38\u95ee\u57fa\u7840\u3002<\/p>\n
\u00a0bash<\/p>\n
sudo apt update && sudo apt upgrade -y<\/p>\n
sudo apt install ros-humble-desktop -y<\/p>\n<\/p>\n
echo "source \/opt\/ros\/humble\/setup.bash" >> ~\/.bashrc<\/p>\n
source ~\/.bashrc<\/p>\n<\/p>\n
ros2 –version<\/p>\n<\/p>\n
\u00a0\u51fa\u73b0\u7248\u672c\u4fe1\u606f，\u73af\u5883\u642d\u5efa\u5b8c\u6210\u3002<\/p>\n<\/p>\n
\u00a0\u4e09\u3001ROS 2 \u6838\u5fc3\u7075\u9b42：\u8282\u70b9\u901a\u4fe1（\u5fc5\u80cc\u5fc5\u4f1a）<\/p>\n<\/p>\n
\u673a\u5668\u4eba\u6240\u6709\u6a21\u5757，\u5168\u90e8\u9760\u6d88\u606f\u901a\u4fe1，\u8fd9\u662f ROS 2 \u6700\u5e95\u5c42\u3001\u6700\u6838\u5fc3\u7684\u903b\u8f91\u3002<\/p>\n<\/p>\n
1）\u6d88\u606f\u53d1\u5e03\u8282\u70b9<\/p>\n<\/p>\n
python<\/p>\n
import rclpy<\/p>\n
from rclpy.node import Node<\/p>\n
from std_msgs.msg import String<\/p>\n<\/p>\n
class RobotPublisher(Node):<\/p>\n
\u00a0 \u00a0 def __init__(self):<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 super().__init__("robot_pub_node")<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 self.publisher = self.create_publisher(String, "robot_status", 10)<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 self.timer = self.create_timer(1.0, self.timer_callback)<\/p>\n<\/p>\n
\u00a0 \u00a0 def timer_callback(self):<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 msg = String()<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 msg.data = "\u673a\u5668\u4eba\u7cfb\u7edf\u6b63\u5e38\u8fd0\u884c | \u4f20\u611f\u5668\u5df2\u63a5\u5165"<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 self.publisher.publish(msg)<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 self.get_logger().info(f"\u53d1\u5e03\u6570\u636e：{msg.data}")<\/p>\n<\/p>\n
def main(args=None):<\/p>\n
\u00a0 \u00a0 rclpy.init(args=args)<\/p>\n
\u00a0 \u00a0 pub_node = RobotPublisher()<\/p>\n
\u00a0 \u00a0 rclpy.spin(pub_node)<\/p>\n
\u00a0 \u00a0 pub_node.destroy_node()<\/p>\n
\u00a0 \u00a0 rclpy.shutdown()<\/p>\n<\/p>\n
if __name__ == "__main__":<\/p>\n
\u00a0 \u00a0 main()<\/p>\n<\/p>\n
2）\u6d88\u606f\u8ba2\u9605\u8282\u70b9<\/p>\n<\/p>\n
python<\/p>\n
import rclpy<\/p>\n
from rclpy.node import Node<\/p>\n
from std_msgs.msg import String<\/p>\n<\/p>\n
class RobotSubscriber(Node):<\/p>\n
\u00a0 \u00a0 def __init__(self):<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 super().__init__("robot_sub_node")<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 self.subscription = self.create_subscription(<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 String,<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 "robot_status",<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 self.listener_callback,<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 10<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 )<\/p>\n<\/p>\n
\u00a0 \u00a0 def listener_callback(self, msg):<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 self.get_logger().info(f"\u63a5\u6536\u6570\u636e：{msg.data}")<\/p>\n<\/p>\n
def main(args=None):<\/p>\n
\u00a0 \u00a0 rclpy.init(args=args)<\/p>\n
\u00a0 \u00a0 sub_node = RobotSubscriber()<\/p>\n
\u00a0 \u00a0 rclpy.spin(sub_node)<\/p>\n
\u00a0 \u00a0 sub_node.destroy_node()<\/p>\n
\u00a0 \u00a0 rclpy.shutdown()<\/p>\n<\/p>\n
if __name__ == "__main__":<\/p>\n
\u00a0 \u00a0 main()<\/p>\n<\/p>\n
\u8fd0\u884c：<\/p>\n<\/p>\n
bash<\/p>\n
ros2 run \u5305\u540d publisher<\/p>\n
ros2 run \u5305\u540d subscriber<\/p>\n
\u00a0\u80fd\u5199\u3001\u80fd\u8bb2\u3001\u80fd\u8dd1\u901a，\u9762\u8bd5\u5b98\u76f4\u63a5\u8ba4\u4f60\u662f\u5185\u884c\u3002<\/p>\n<\/p>\n
\u00a0\u56db\u3001\u673a\u5668\u4eba\u5efa\u6a21：URDF（\u4f01\u4e1a\u5fc5\u5907）<\/p>\n<\/p>\n
\u8ba9 ROS \u8ba4\u8bc6\u4f60\u7684\u673a\u5668\u4eba\u7ed3\u6784\u3002<\/p>\n<\/p>\n
xml<\/p>\n
<?xml version="1.0"?><\/p>\n
<robot name="industrial_robot"><\/p>\n
\u00a0 <link name="base_link"\/><\/p>\n
\u00a0 <link name="camera_link"\/><\/p>\n<\/p>\n
\u00a0 <joint name="camera_joint" type="fixed"><\/p>\n
\u00a0 \u00a0 <parent link="base_link"\/><\/p>\n
\u00a0 \u00a0 <child link="camera_link"\/><\/p>\n
\u00a0 \u00a0 <origin xyz="0.2 0 0.15" rpy="0 0 0"\/><\/p>\n
\u00a0 <\/joint><\/p>\n
<\/robot><\/p>\n<\/p>\n
\u542f\u52a8\u67e5\u770b：<\/p>\n<\/p>\n
bash<\/p>\n
ros2 launch urdf_launch display.launch.py urdf_path:=.\/robot.urdf<\/p>\n<\/p>\n
\u00a0\u4e94\u3001\u673a\u5668\u4eba\u5b9a\u4f4d\u6838\u5fc3：TF \u5750\u6807\u53d8\u6362<\/p>\n<\/p>\n
\u673a\u5668\u4eba\u80fd\u6293\u51c6\u3001\u80fd\u5bfc\u822a\u3001\u4e0d\u8ff7\u8def，\u5168\u9760 TF\u3002<\/p>\n<\/p>\n
\u67e5\u770b\u5750\u6807\u5173\u7cfb：<\/p>\n<\/p>\n
bash<\/p>\n
ros2 run tf2_ros tf2_echo base_link camera_link<\/p>\n
\u00a0\u6211\u5728\u54ea？\u76ee\u6807\u5728\u54ea？\u969c\u788d\u7269\u5728\u54ea？<\/p>\n
\u5168\u90e8\u7531 TF \u7ed9\u51fa\u7b54\u6848\u3002<\/p>\n
\u00a0\u516d\u3001\u4f01\u4e1a\u7ea7\u529f\u80fd：SLAM \u5efa\u56fe + Nav2 \u5bfc\u822a<\/p>\n<\/p>\n
\u79fb\u52a8\u673a\u5668\u4eba\u3001\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u5c97\u5fc5\u505a\u529f\u80fd\u3002<\/p>\n
\u00a0\u5efa\u56fe：<\/p>\n<\/p>\n
bash<\/p>\n
ros2 launch slam_toolbox online_async_launch.py<\/p>\n
\u00a0\u5bfc\u822a：<\/p>\n<\/p>\n
bash<\/p>\n
ros2 launch nav2_bringup navigation_launch.py<\/p>\n
\u00a0\u4e03\u3001\u673a\u68b0\u81c2\u63a7\u5236：MoveIt2<\/p>\n
\u00a0\u5de5\u4e1a\u673a\u68b0\u81c2\u3001\u4eba\u5f62\u624b\u81c2\u3001\u6293\u53d6\u4f5c\u4e1a，\u5168\u90e8\u57fa\u4e8e MoveIt2\u3002<\/p>\n
\u00a0bash<\/p>\n
ros2 launch moveit2_bringup moveit.launch.py<\/p>\n
\u00a0\u6807\u51c6\u6d41\u7a0b：<\/p>\n
\u00a01.\u00a0\u8bbe\u7f6e\u76ee\u6807\u4f4d\u59ff<\/p>\n
2.\u00a0\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c<\/p>\n
3.\u00a0\u78b0\u649e\u5b89\u5168\u68c0\u6d4b<\/p>\n
4.\u00a0\u4e0b\u53d1\u7535\u673a\u6267\u884c<\/p>\n
5.\u00a0\u5b9e\u65f6\u53cd\u9988\u4fee\u6b63<\/p>\n
\u00a0\u516b\u3001ROS 2 \u5168\u6808\u4f01\u4e1a\u7ea7\u95ed\u73af\u903b\u8f91（\u9762\u8bd5\u5fc5\u80cc）<\/p>\n
\u00a0\u771f\u6b63\u5546\u7528\u673a\u5668\u4eba，\u4e00\u5b9a\u662f\u672c\u5730\u5168\u6d41\u7a0b\u95ed\u73af：<\/p>\n
\u00a01.\u00a0\u4f20\u611f\u5668\u91c7\u96c6\u6570\u636e<\/p>\n
2.\u00a0\u8282\u70b9\u901a\u4fe1\u5206\u53d1<\/p>\n
3.\u00a0TF \u5750\u6807\u7a7a\u95f4\u5b9a\u4f4d<\/p>\n
4.\u00a0\u5bfc\u822a \/ \u673a\u68b0\u81c2\u89c4\u5212\u52a8\u4f5c<\/p>\n
5.\u00a0\u672c\u5730\u7535\u673a\u5b9e\u65f6\u6267\u884c<\/p>\n
6.\u00a0\u53cd\u9988\u81ea\u52a8\u4fee\u6b63<\/p>\n<\/p>\n
\u5168\u7a0b\u4e0d\u4e0a\u4e91\u3001\u65e0\u5ef6\u8fdf\u3001\u4e0d\u88ab\u52ab\u6301\u3001\u5408\u89c4\u5b89\u5168，\u8fd9\u4e5f\u662f\u5927\u5382\u3001\u76d1\u7ba1\u90fd\u8ba4\u53ef\u7684\u552f\u4e00\u65b9\u6848\u3002<\/p>\n
\u00a0\u4e5d\u3001\u5b66\u5b8c\u672c\u6587，\u4f60\u80fd\u8fbe\u5230\u4ec0\u4e48\u6c34\u5e73？<\/p>\n
\u00a01.\u00a0\u9762\u8bd5：\u76f4\u63a5\u5bf9\u6807\u8d44\u6df1\u673a\u5668\u4eba\u5f00\u53d1\u5de5\u7a0b\u5e08<\/p>\n
2.\u00a0\u4e0a\u73ed：\u62ff\u5230\u9700\u6c42\u76f4\u63a5\u843d\u5730，\u4e0d\u7528\u5e26\u3001\u4e0d\u7528\u6559<\/p>\n
3.\u00a0\u6280\u672f：\u4e00\u5957\u6253\u901a，\u5168\u673a\u578b\u901a\u7528<\/p>\n
4.\u00a0\u7ade\u4e89\u529b：\u5177\u8eab\u667a\u80fd\u65f6\u4ee3\u6700\u786c\u7684\u5e95\u5c42\u6280\u672f<\/p>\n<\/p>\n
\u00a0\u672c\u7bc7\u5168\u7a0b\u4f01\u4e1a\u5b9e\u6218\u903b\u8f91，\u4ee3\u7801\u53ef\u76f4\u63a5\u8fd0\u884c，<\/p>\n
\u9002\u5408\u6b63\u5728\u5b66\u4e60\u673a\u5668\u4eba\u3001\u51c6\u5907\u9762\u8bd5\u3001\u4e0a\u73ed\u9700\u8981\u63d0\u5347\u7684\u540c\u5b66\u3002<\/p>\n
\u00a0\u89c9\u5f97\u6709\u7528\u7684\u5c0f\u4f19\u4f34，\u70b9\u8d5e + \u6536\u85cf + \u5173\u6ce8，<\/p>\n
\u540e\u7eed\u6301\u7eed\u66f4\u65b0\u673a\u5668\u4eba\u3001\u5177\u8eab\u667a\u80fd\u3001ROS 2 \u8fdb\u9636\u5b9e\u6218\u3001\u9879\u76ee\u67b6\u6784\u3001\u9762\u8bd5\u771f\u9898\u3002<\/p>\n
\u9700\u8981\u5b8c\u6574\u9879\u76ee\u6e90\u7801\u3001\u5b66\u4e60\u8def\u7ebf\u3001\u9762\u8bd5\u9898\u5e93\u7684\u540c\u5b66，\u53ef\u4ee5\u8bc4\u8bba\u533a\u7559\u8a00，\u6211\u6301\u7eed\u66f4\u65b0！<\/p>\n
\u00a0#ROS2 #\u673a\u5668\u4eba\u5f00\u53d1 #\u4eba\u5f62\u673a\u5668\u4eba #\u5177\u8eab\u667a\u80fd #\u673a\u68b0\u81c2 #AGV #\u81ea\u52a8\u9a7e\u9a76 #\u673a\u5668\u4eba\u5de5\u7a0b\u5e08 #\u9762\u8bd5\u5e72\u8d27 #\u7f16\u7a0b\u5b9e\u6218<\/p><\/p>\n","protected":false},"excerpt":{"rendered":"
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