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ROS2\u5de5\u4f5c\u7a7a\u95f4\u7684\u642d\u5efa&#xff1a;\u4ece\u96f6\u5230Hello World \u5728\u6df1\u5165\u5177\u4f53\u6a21\u5757\u4e4b\u524d&#xff0c;\u4f60\u9700\u8981\u5148\u642d\u597dROS2\u7684\u5f00\u53d1\u73af\u5883\u3002\u597d\u6d88\u606f\u662f&#xff0c;ROS2 Humble\u7684\u5b89\u88c5\u548c\u914d\u7f6e\u6bd4\u4f60\u60f3\u8c61\u4e2d\u7b80\u5355\u3002\u574f\u6d88\u606f\u662f&#xff0c;\u7b2c\u4e00\u6b21\u642d\u7684\u65f6\u5019\u4e00\u5b9a\u4f1a\u9047\u5230\u51e0\u4e2a\u5751\u3002\u4e0b\u9762\u662f\u6211\u603b\u7ed3\u7684\u6700\u5c0f\u5316\u642d\u5efa\u6d41\u7a0b&#xff0c;\u628a\u5751\u90fd\u6807\u51fa\u6765\u4e86\u3002 \u7b2c\u4e00\u6b65&#xff0c;\u5728RDK X5\u4e0a\u5b89\u88c5ROS2 Humble\u3002RDK X5\u5b98\u65b9\u63d0\u4f9b\u4e86\u9884\u88c5ROS2\u7684Ubuntu\u955c\u50cf&#xff0c;\u4f60\u5237\u597d\u7cfb\u7edf\u540e\u53ea\u9700\u8981\u786e\u8ba4ROS2\u5df2\u7ecf\u5b89\u88c5&#xff1a; ROS2\u5de5\u4f5c\u7a7a\u95f4\u521d\u59cb\u5316\u811a\u672c \u2014\u2014 \u5728RDK X5\u4e3b\u63a7\u677f\u4e0a\u521b\u5efaROS2\u5de5\u4f5c\u7a7a\u95f4&#xff0c;\u5b89\u88c5Python\u4f9d\u8d56&#xff0c;\u7f16\u8bd1\u6240\u6709\u8282\u70b9\u3002\u6ce8\u610f&#xff1a;\u5fc5\u987b\u7528 &#8211;symlink-install \u9009\u9879&#xff0c;\u8fd9\u6837\u4fee\u6539Python\u6e90\u7801\u540e\u65e0\u9700\u91cd\u65b0\u7f16\u8bd1\u3002<\/p>\n<p><span class=\"token shebang important\">#!\/bin\/bash<\/span><\/p>\n<p>ROS2 Humble \u5de5\u4f5c\u7a7a\u95f4\u4e00\u952e\u521d\u59cb\u5316\u811a\u672c <span class=\"token comment\"># \u5728RDK X5\u4e3b\u63a7\u677f\u4e0a\u6267\u884c # 1. \u786e\u8ba4ROS2\u5df2\u5b89\u88c5<\/span><\/p>\n<p><span class=\"token builtin class-name\">source<\/span> \/opt\/ros\/humble\/setup.bash<br \/>\nros2 <span class=\"token parameter variable\">&#8211;version<\/span>  <span class=\"token comment\"># \u5e94\u8f93\u51fa humble<\/span><\/p>\n<p><span class=\"token number\">2<\/span>. \u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4<\/p>\n<p><span class=\"token function\">mkdir<\/span> <span class=\"token parameter variable\">-p<\/span> <span class=\"token punctuation\">\\\\<\/span><span class=\"token environment constant\">$HOME<\/span>\/lebao_ws\/src<br \/>\n<span class=\"token builtin class-name\">cd<\/span> <span class=\"token punctuation\">\\\\<\/span><span class=\"token environment constant\">$HOME<\/span>\/lebao_ws<\/p>\n<p><span class=\"token comment\"># 3. \u5b89\u88c5Python\u4f9d\u8d56<\/span><br \/>\npip3 <span class=\"token function\">install<\/span> pyserial numpy transforms3d<\/p>\n<p><span class=\"token comment\"># 4. \u7f16\u8bd1&#xff08;&#8211;symlink-install: \u6539Python\u6e90\u7801\u65e0\u9700\u91cd\u65b0\u7f16\u8bd1&#xff09;<\/span><br \/>\ncolcon build &#8211;symlink-install<\/p>\n<p><span class=\"token comment\"># 5. \u5c06\u5de5\u4f5c\u7a7a\u95f4\u52a0\u5165bashrc&#xff0c;\u6bcf\u6b21\u767b\u5f55\u81ea\u52a8source<\/span><br \/>\n<span class=\"token builtin class-name\">echo<\/span> <span class=\"token string\">&#039;source \\\\$HOME\/lebao_ws\/install\/setup.bash&#039;<\/span> <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token punctuation\">\\\\<\/span><span class=\"token environment constant\">$HOME<\/span>\/.bashrc<br \/>\n<span class=\"token builtin class-name\">echo<\/span> <span class=\"token string\">&#039;export ROS_DOMAIN_ID&#061;168&#039;<\/span> <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token punctuation\">\\\\<\/span><span class=\"token environment constant\">$HOME<\/span>\/.bashrc<\/p>\n<p><span class=\"token builtin class-name\">echo<\/span> <span class=\"token string\">&#034;ROS2 workspace ready: \\\\<span class=\"token environment constant\">$HOME<\/span>\/lebao_ws&#034;<\/span><\/p>\n<p>\u5176\u4e2d ROS_DOMAIN_ID&#061;168 \u662f\u4e00\u4e2a\u5173\u952e\u914d\u7f6e\u3002ROS2\u4f7f\u7528DDS\u534f\u8bae\u8fdb\u884c\u8282\u70b9\u95f4\u901a\u4fe1&#xff0c;\u540c\u4e00\u7f51\u7edc\u5185\u7684\u6240\u6709\u8282\u70b9\u9ed8\u8ba4\u5728domain 0\u4e0b\u4e92\u76f8\u53d1\u73b0\u3002\u5982\u679c\u4f60\u7684\u7535\u8111\u548c\u591a\u4e2a\u673a\u5668\u4eba\u5728\u540c\u4e00\u4e2aWiFi\u4e0b&#xff0c;\u7535\u8111\u4e0a\u7684ROS2\u8282\u70b9\u53ef\u80fd\u4f1a\u610f\u5916\u8ba2\u9605\u5230\u5176\u4ed6\u673a\u5668\u4eba\u4e0a\u7684\u8bdd\u9898&#xff0c;\u6216\u8005\u53cd\u8fc7\u6765\u3002\u8bbe\u7f6e\u4e0d\u540c\u7684DOMAIN_ID\u53ef\u4ee5\u9694\u79bb\u5b83\u4eec\u2014\u2014\u673a\u5668\u4eba\u7684\u6240\u6709\u8282\u70b9\u7528168&#xff0c;\u4f60\u7684\u7535\u8111\u7528\u9ed8\u8ba4\u76840&#xff0c;\u4e92\u4e0d\u5e72\u6270\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260803044942-6a701de653793.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260803044942-6a701de66a561.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u4e50\u5b9d\u673a\u5668\u4eba\u6362\u88c5\u6548\u679c\u56fe\u7247 \u4e50\u5b9d\u6846\u67b6\u7684\u53ef\u6269\u5c55\u6027&#xff1a;\u4e0d\u662f\u7ec8\u70b9&#xff0c;\u662f\u8d77\u70b9 \u4e50\u5b9d\u4e0d\u662f\u4e00\u4e2a\u5c01\u95ed\u7684\u3001\u201c\u505a\u5b8c\u5c31\u5b8c\u4e86\u201d\u7684\u7cfb\u7edf\u3002\u6211\u628a\u5b83\u8bbe\u8ba1\u6210\u5f00\u653e\u7684\u3001\u53ef\u6269\u5c55\u7684\u6d4b\u8bd5\u53f0&#xff1a; ZMP\u5e73\u8861\u63a7\u5236 \u2192 \u5f3a\u5316\u5b66\u4e60\u6b65\u6001&#xff1a; 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\u4e50\u5b9d\u7684\u4f20\u611f\u5668\u878d\u5408\u6846\u67b6\u662f\u6a21\u5757\u5316\u7684\u3002\u4f60\u53ef\u4ee5\u66ff\u6362\u4e92\u8865\u6ee4\u6ce2\u5668\u4e3a\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u3001\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668&#xff0c;\u6216\u8005\u63a5\u5165\u89c6\u89c9\u91cc\u7a0b\u8ba1\u505a\u66f4\u590d\u6742\u7684\u72b6\u6001\u4f30\u8ba1\u3002\u4f20\u611f\u5668\u63a5\u53e3\u662f\u6807\u51c6\u5316\u7684&#xff0c;\u4f60\u53ea\u9700\u8981\u5199\u4e00\u4e2a\u65b0\u7684\u878d\u5408\u8282\u70b9&#xff0c;\u63d2\u5230\u73b0\u6709\u7684\u6570\u636e\u6d41\u91cc\u5c31\u884c\u3002 AI Service Hub \u2192 \u4efb\u610f\u5927\u6a21\u578b\u63a5\u5165&#xff1a; \u624b\u673a\u7aef\u672c\u5730\u8fd0\u884c\u7684LLM\u63a8\u7406\u6846\u67b6&#xff0c;\u652f\u6301llama.cpp\u683c\u5f0f\u7684\u6a21\u578b\u3002\u63a5\u53e3\u662f\u7edf\u4e00\u7684&#xff0c;\u6362\u6a21\u578b\u53ea\u9700\u8981\u6362\u4e00\u4e2a\u6587\u4ef6\u3002\u4f60\u53ef\u4ee5\u628a\u6a21\u578b\u6362\u6210GPT-4o\u3001Claude\u3001\u6587\u5fc3\u4e00\u8a00&#xff0c;\u6216\u8005\u63a5\u5165\u4f60\u81ea\u5df1\u7684\u5fae\u8c03\u6a21\u578b\u3002 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