{"id":85180,"date":"2026-07-27T04:24:20","date_gmt":"2026-07-26T20:24:20","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/85180.html"},"modified":"2026-07-27T04:24:20","modified_gmt":"2026-07-26T20:24:20","slug":"%e5%a4%a7%e7%96%86%e5%85%a8%e6%a0%88%e7%b3%bb%e7%bb%9f%e9%9d%a2%e8%af%95%ef%bc%8cros2%e8%8a%82%e7%82%b9%e5%b4%a9%e6%ba%83%e6%81%a2%e5%a4%8d%e8%bf%99%e9%81%93%e9%a2%98%e6%af%94%e4%bd%a0%e6%83%b3","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/85180.html","title":{"rendered":"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742"},"content":{"rendered":"<p>\u5199\u5230\u5927\u7586\u7cfb\u5217\u7b2c\u4e03\u7bc7\u4e86\uff0c\u540e\u53f0\u6709\u4e0d\u5c11\u540c\u5b66\u8bf4\uff1a\\&#8221;\u524d\u9762\u51e0\u7bc7\u90fd\u662f\u67d0\u4e2a\u5177\u4f53\u65b9\u5411\u7684\u6df1\u5ea6\u9762\u8bd5\uff0c\u6709\u6ca1\u6709\u90a3\u79cd\u5565\u90fd\u8981\u4f1a\u7684\u5c97\u4f4d\uff1f\\&#8221;\u8fd8\u771f\u6709\u2014\u2014\u5927\u7586\u7684\u5168\u6808\u673a\u5668\u4eba\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5c31\u662f\u8fd9\u6837\u7684\u89d2\u8272\u3002\u8fd9\u4e2a\u5c97\u4f4d\u9700\u8981\u4f60\u5bf9\u6574\u4e2a\u673a\u5668\u4eba\u8f6f\u4ef6\u6808\u6709\u5168\u5c40\u89c6\u91ce\uff0c\u4ece\u5e95\u5c42\u7684\u901a\u4fe1\u4e2d\u95f4\u4ef6\u5230\u4e0a\u5c42\u7684\u4efb\u52a1\u8c03\u5ea6\uff0c\u4ece\u4f20\u611f\u5668\u9a71\u52a8\u5230\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\uff0c\u90fd\u5f97\u95e8\u513f\u6e05\u3002<\/p>\n<p>\u8bf4\u767d\u4e86\uff0c\u5168\u6808\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5728\u56e2\u961f\u91cc\u626e\u6f14\u7684\u662f\\&#8221;\u80f6\u6c34\\&#8221;\u89d2\u8272\uff0c\u628a\u5404\u4e2a\u6a21\u5757\u4e32\u8d77\u6765\u4fdd\u8bc1\u7cfb\u7edf\u8dd1\u5f97\u901a\u3002\u9762\u8bd5\u8003\u7684\u4e1c\u897f\u4e5f\u56e0\u6b64\u7279\u522b\u6742\uff0c\u4f46\u6bcf\u5757\u90fd\u4f1a\u95ee\u5230\u4e00\u5b9a\u7684\u6df1\u5ea6\u3002\u8fd9\u7bc7\u56f4\u7ed5ROS2\u67b6\u6784\u8bbe\u8ba1\u3001\u4efb\u52a1\u8c03\u5ea6\u548c\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\u4e09\u4e2a\u65b9\u5411\u6765\u8bb2\u3002<\/p>\n<h3>ROS2\u67b6\u6784\uff1a\u4e0d\u662f\u8ba9\u4f60\u80cc\u8282\u70b9\u901a\u4fe1\u6d41\u7a0b<\/h3>\n<p>\u5927\u7586\u7684\u4e00\u4e9b\u65b0\u4ea7\u54c1\u7ebf\u5df2\u7ecf\u4eceROS1\u8fc1\u79fb\u5230ROS2\uff0c\u9762\u8bd5\u91ccROS2\u76f8\u5173\u95ee\u9898\u7684\u6bd4\u91cd\u660e\u663e\u589e\u52a0\u4e86\u3002<\/p>\n<p>\u9762\u8bd5\u5b98\u7684\u7b2c\u4e00\u4e2a\u95ee\u9898\uff1a\\&#8221;ROS2\u7684DDS\u901a\u4fe1\u8ddfROS1\u7684TCPROS\u6709\u4ec0\u4e48\u672c\u8d28\u533a\u522b\uff1f\\&#8221;<\/p>\n<p>ROS1\u7528\u7684\u662fmaster-slave\u67b6\u6784\uff0c\u6240\u6709\u8282\u70b9\u5fc5\u987b\u8fde\u4e0aroscore\u624d\u80fd\u4e92\u76f8\u53d1\u73b0\uff0c\u8282\u70b9\u95f4\u901a\u4fe1\u7528\u7684\u662fTCPROS\uff08\u57fa\u4e8eTCP\u7684\u81ea\u5b9a\u4e49\u534f\u8bae\uff09\u3002\u8fd9\u4e2a\u67b6\u6784\u7684\u95ee\u9898\u662froscore\u662f\u5355\u70b9\u6545\u969c\uff0c\u4e00\u65e6\u5d29\u4e86\u5168\u7cfb\u7edf\u762b\u75ea\u3002ROS2\u5f7b\u5e95\u53bb\u6389\u4e86master\uff0c\u5e95\u5c42\u6362\u6210DDS\u505a\u901a\u4fe1\uff0c\u8282\u70b9\u4e4b\u95f4\u901a\u8fc7DDS\u7684\u53d1\u73b0\u534f\u8bae\uff08SPDP, Simple Participant Discovery Protocol\uff09\u81ea\u52a8\u4e92\u76f8\u53d1\u73b0\uff0c\u4e0d\u9700\u8981\u4e2d\u5fc3\u8282\u70b9\u3002<\/p>\n<p>DDS\u6bd4TCPROS\u597d\u5728\u4e09\u4e2a\u65b9\u9762\uff1a\u4e00\u662f\u5929\u7136\u652f\u6301QoS\u7b56\u7565\uff0c\u53ef\u4ee5\u7ed9\u4e0d\u540c\u7684topic\u914d\u4e0d\u540c\u7684\u53ef\u9760\u6027\u548c\u5b9e\u65f6\u6027\u8981\u6c42\uff1b\u4e8c\u662f\u652f\u6301\u591a\u5bf9\u591a\u901a\u4fe1\uff0c\u4e0d\u9700\u8981\u50cfROS1\u90a3\u6837\u5efa\u4e00\u5806\u70b9\u5bf9\u70b9\u8fde\u63a5\uff1b\u4e09\u662f\u5b9e\u65f6\u6027\u66f4\u597d\uff0cDD<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5199\u5230\u5927\u7586\u7cfb\u5217\u7b2c\u4e03\u7bc7\u4e86\uff0c\u540e\u53f0\u6709\u4e0d\u5c11\u540c\u5b66\u8bf4\uff1a\\&#8221;\u524d\u9762\u51e0\u7bc7\u90fd\u662f\u67d0\u4e2a\u5177\u4f53\u65b9\u5411\u7684\u6df1\u5ea6\u9762\u8bd5\uff0c\u6709\u6ca1\u6709\u90a3\u79cd\u5565\u90fd\u8981\u4f1a\u7684\u5c97\u4f4d\uff1f\\&#8221;\u8fd8\u771f\u6709\u2014\u2014\u5927\u7586\u7684\u5168\u6808\u673a\u5668\u4eba\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5c31\u662f\u8fd9\u6837\u7684\u89d2\u8272\u3002\u8fd9\u4e2a\u5c97\u4f4d\u9700\u8981\u4f60\u5bf9\u6574\u4e2a\u673a\u5668\u4eba\u8f6f\u4ef6\u6808\u6709\u5168\u5c40\u89c6\u91ce\uff0c\u4ece\u5e95\u5c42\u7684\u901a\u4fe1\u4e2d\u95f4\u4ef6\u5230\u4e0a\u5c42\u7684\u4efb\u52a1\u8c03\u5ea6\uff0c\u4ece\u4f20\u611f\u5668\u9a71\u52a8\u5230\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\uff0c\u90fd\u5f97\u95e8\u513f\u6e05\u3002<br \/>\n\u8bf4\u767d\u4e86\uff0c\u5168\u6808\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5728\u56e2\u961f\u91cc\u626e\u6f14\u7684\u662f\\&#8221;\u80f6\u6c34\\&#8221;\u89d2\u8272\uff0c\u628a\u5404\u4e2a\u6a21\u5757\u4e32\u8d77\u6765\u4fdd\u8bc1\u7cfb\u7edf\u8dd1\u5f97\u901a\u3002\u9762\u8bd5\u8003\u7684\u4e1c\u897f\u4e5f\u56e0\u6b64\u7279\u522b\u6742\uff0c\u4f46\u6bcf\u5757\u90fd\u4f1a\u95ee\u5230\u4e00\u5b9a\u7684\u6df1\u5ea6\u3002\u8fd9\u7bc7\u56f4\u7ed5ROS2\u67b6\u6784\u8bbe\u8ba1\u3001\u4efb\u52a1\u8c03\u5ea6\u548c\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\u4e09\u4e2a\u65b9\u5411\u6765\u8bb2\u3002<\/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":[9137,81,190,384,925,176],"topic":[],"class_list":["post-85180","post","type-post","status-publish","format-standard","hentry","category-server","tag-atomgit","tag-python","tag-190","tag-384","tag-925","tag-176"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742 - \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\/85180.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u5199\u5230\u5927\u7586\u7cfb\u5217\u7b2c\u4e03\u7bc7\u4e86\uff0c\u540e\u53f0\u6709\u4e0d\u5c11\u540c\u5b66\u8bf4\uff1a&quot;\u524d\u9762\u51e0\u7bc7\u90fd\u662f\u67d0\u4e2a\u5177\u4f53\u65b9\u5411\u7684\u6df1\u5ea6\u9762\u8bd5\uff0c\u6709\u6ca1\u6709\u90a3\u79cd\u5565\u90fd\u8981\u4f1a\u7684\u5c97\u4f4d\uff1f&quot;\u8fd8\u771f\u6709\u2014\u2014\u5927\u7586\u7684\u5168\u6808\u673a\u5668\u4eba\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5c31\u662f\u8fd9\u6837\u7684\u89d2\u8272\u3002\u8fd9\u4e2a\u5c97\u4f4d\u9700\u8981\u4f60\u5bf9\u6574\u4e2a\u673a\u5668\u4eba\u8f6f\u4ef6\u6808\u6709\u5168\u5c40\u89c6\u91ce\uff0c\u4ece\u5e95\u5c42\u7684\u901a\u4fe1\u4e2d\u95f4\u4ef6\u5230\u4e0a\u5c42\u7684\u4efb\u52a1\u8c03\u5ea6\uff0c\u4ece\u4f20\u611f\u5668\u9a71\u52a8\u5230\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\uff0c\u90fd\u5f97\u95e8\u513f\u6e05\u3002 \u8bf4\u767d\u4e86\uff0c\u5168\u6808\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5728\u56e2\u961f\u91cc\u626e\u6f14\u7684\u662f&quot;\u80f6\u6c34&quot;\u89d2\u8272\uff0c\u628a\u5404\u4e2a\u6a21\u5757\u4e32\u8d77\u6765\u4fdd\u8bc1\u7cfb\u7edf\u8dd1\u5f97\u901a\u3002\u9762\u8bd5\u8003\u7684\u4e1c\u897f\u4e5f\u56e0\u6b64\u7279\u522b\u6742\uff0c\u4f46\u6bcf\u5757\u90fd\u4f1a\u95ee\u5230\u4e00\u5b9a\u7684\u6df1\u5ea6\u3002\u8fd9\u7bc7\u56f4\u7ed5ROS2\u67b6\u6784\u8bbe\u8ba1\u3001\u4efb\u52a1\u8c03\u5ea6\u548c\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\u4e09\u4e2a\u65b9\u5411\u6765\u8bb2\u3002\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/85180.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-07-26T20:24:20+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<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/85180.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/85180.html\",\"name\":\"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-07-26T20:24:20+00:00\",\"dateModified\":\"2026-07-26T20:24:20+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/85180.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/85180.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/85180.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742\"}]},{\"@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":"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742 - \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\/85180.html","og_locale":"zh_CN","og_type":"article","og_title":"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"\u5199\u5230\u5927\u7586\u7cfb\u5217\u7b2c\u4e03\u7bc7\u4e86\uff0c\u540e\u53f0\u6709\u4e0d\u5c11\u540c\u5b66\u8bf4\uff1a\"\u524d\u9762\u51e0\u7bc7\u90fd\u662f\u67d0\u4e2a\u5177\u4f53\u65b9\u5411\u7684\u6df1\u5ea6\u9762\u8bd5\uff0c\u6709\u6ca1\u6709\u90a3\u79cd\u5565\u90fd\u8981\u4f1a\u7684\u5c97\u4f4d\uff1f\"\u8fd8\u771f\u6709\u2014\u2014\u5927\u7586\u7684\u5168\u6808\u673a\u5668\u4eba\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5c31\u662f\u8fd9\u6837\u7684\u89d2\u8272\u3002\u8fd9\u4e2a\u5c97\u4f4d\u9700\u8981\u4f60\u5bf9\u6574\u4e2a\u673a\u5668\u4eba\u8f6f\u4ef6\u6808\u6709\u5168\u5c40\u89c6\u91ce\uff0c\u4ece\u5e95\u5c42\u7684\u901a\u4fe1\u4e2d\u95f4\u4ef6\u5230\u4e0a\u5c42\u7684\u4efb\u52a1\u8c03\u5ea6\uff0c\u4ece\u4f20\u611f\u5668\u9a71\u52a8\u5230\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\uff0c\u90fd\u5f97\u95e8\u513f\u6e05\u3002 \u8bf4\u767d\u4e86\uff0c\u5168\u6808\u7cfb\u7edf\u5de5\u7a0b\u5e08\u5728\u56e2\u961f\u91cc\u626e\u6f14\u7684\u662f\"\u80f6\u6c34\"\u89d2\u8272\uff0c\u628a\u5404\u4e2a\u6a21\u5757\u4e32\u8d77\u6765\u4fdd\u8bc1\u7cfb\u7edf\u8dd1\u5f97\u901a\u3002\u9762\u8bd5\u8003\u7684\u4e1c\u897f\u4e5f\u56e0\u6b64\u7279\u522b\u6742\uff0c\u4f46\u6bcf\u5757\u90fd\u4f1a\u95ee\u5230\u4e00\u5b9a\u7684\u6df1\u5ea6\u3002\u8fd9\u7bc7\u56f4\u7ed5ROS2\u67b6\u6784\u8bbe\u8ba1\u3001\u4efb\u52a1\u8c03\u5ea6\u548c\u7cfb\u7edf\u96c6\u6210\u6d4b\u8bd5\u4e09\u4e2a\u65b9\u5411\u6765\u8bb2\u3002","og_url":"https:\/\/www.wsisp.com\/helps\/85180.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-07-26T20:24:20+00:00","author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/85180.html","url":"https:\/\/www.wsisp.com\/helps\/85180.html","name":"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-07-26T20:24:20+00:00","dateModified":"2026-07-26T20:24:20+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/85180.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/85180.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/85180.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"\u5927\u7586\u5168\u6808\u7cfb\u7edf\u9762\u8bd5\uff0cROS2\u8282\u70b9\u5d29\u6e83\u6062\u590d\u8fd9\u9053\u9898\u6bd4\u4f60\u60f3\u7684\u590d\u6742"}]},{"@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\/85180","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=85180"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/85180\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=85180"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=85180"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=85180"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=85180"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}