{"id":10712,"date":"2025-12-07T23:36:54","date_gmt":"2025-12-07T15:36:54","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=10712"},"modified":"2025-12-12T12:07:19","modified_gmt":"2025-12-12T04:07:19","slug":"%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6-%e5%ad%a6%e4%b9%a0%e8%b5%84%e6%96%99%e7%b4%a2%e5%bc%95","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=10712","title":{"rendered":"\u81ea\u52a8\u9a7e\u9a76\u2014\u5b66\u4e60\u8d44\u6599\u7d22\u5f15"},"content":{"rendered":"<p>\u7531\u4e8e\u535a\u5ba2\u91cc\u6709\u5f88\u591a\u6478\u7d22\u548c\u5c1d\u8bd5\u7684\u6587\u7ae0\uff0c\u987a\u5e8f\u53ef\u80fd\u4f1a\u98a0\u5012\uff0c\u4e3a\u4e86\u65b9\u4fbf\u5927\u5bb6\u7cfb\u7edf\u6027\u7684\u5b66\u4e60\uff0c\u672c\u6587\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u7cfb\u7edf\u6027\u5b66\u4e60\u548c\u5b9e\u8df5\u5e94\u8be5\u6309\u987a\u5e8f\u770b\u54ea\u4e9b\u6587\u7ae0\u8fdb\u884c\u4e86\u4e0b\u6574\u7406\u3002<\/p>\n<p><a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/map-auto.jpg\"><img loading=\"lazy\" class=\"alignnone wp-image-10736 size-full\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/map-auto.jpg\" alt=\"\" width=\"1200\" height=\"822\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/map-auto.jpg 1200w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/map-auto-300x206.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/map-auto-1024x701.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/map-auto-768x526.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/map-auto-624x427.jpg 624w\" sizes=\"(max-width: 1200px) 100vw, 1200px\" \/><\/a><\/p>\n<h1>\u4e00\u3001\u4f20\u611f\u5668\u4e0e\u5e95\u76d8<\/h1>\n<h4>1. \u57fa\u7840<\/h4>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=8701\" target=\"_blank\" rel=\"noopener\">Autoware\u2014\u6982\u8ff0<\/a><\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=8732\" target=\"_blank\" rel=\"noopener\">Autoware\u2014Universe\u521d\u63a2<\/a><\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=9092\" target=\"_blank\" rel=\"noopener\">Nvidia Jetson AGX Orin\u7cfb\u7edf\u5237\u5199<\/a><\/li>\n<\/ul>\n<h4>2. \u4f20\u611f\u5668\u4e0e\u5e95\u76d8<\/h4>\n<h6>2.1 Lidar<\/h6>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=10552\" target=\"_blank\" rel=\"noopener\">\u956d\u795eC16<\/a>\uff0816\u7ebf\uff0c200\u7c73\uff09<\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=8425\" target=\"_blank\" rel=\"noopener\">\u901f\u817e\u805a\u521bRoboSense16<\/a>\uff0816\u7ebf\uff0c150\u7c73\uff09<\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=8316\" target=\"_blank\" rel=\"noopener\">\u79be\u8d5bPandar40P<\/a>\uff0840\u7ebf\uff0c150\u7c73\uff09<\/li>\n<\/ul>\n<h6>2.2 IMU<\/h6>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=9190\" target=\"_blank\" rel=\"noopener\">Yesense H30<\/a>\uff089\u8f74\uff0c200HZ\uff09<\/li>\n<\/ul>\n<h6>2.3 GNSS<\/h6>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=10477\" target=\"_blank\" rel=\"noopener\">GNSS\u2014\u57fa\u672c\u539f\u7406<\/a><\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=9273\" target=\"_blank\" rel=\"noopener\">G70<\/a> + \u5343\u5bfbRTK\u5dee\u5206<\/li>\n<\/ul>\n<h6>2.4 Camera<\/h6>\n<ul>\n<li>\u6682\u4e0d\u53c2\u4e0e\u5efa\u56fe\uff0c\u4efb\u610f1080P\u5206\u8fa8\u7387\u76f8\u673a\u5373\u53ef<\/li>\n<\/ul>\n<h6>2.5 Radar<\/h6>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=10826\" target=\"_blank\" rel=\"noopener\">\u8d5b\u6069\u9886\u52a8SINPRO-SFR-2K<\/a>\uff08\u6c34\u5e73FOV 120\u5ea6\uff0c300\u7c73\uff09<\/li>\n<\/ul>\n<h6>2.5 \u5e95\u76d8<\/h6>\n<ul>\n<li>\u4efb\u610f\u5e95\u76d8\u5747\u53ef<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1>\u4e8c\u3001\u5730\u56fe\u5236\u4f5c<\/h1>\n<h4>1. \u70b9\u4e91\u5730\u56feSLAM\u5efa\u56fe<\/h4>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=10607\" target=\"_blank\" rel=\"noopener\">LIO-SAM\u2014IMU+Lidar+GNSS\u6784\u5efa\u9ad8\u7cbe\u5730\u56fe<\/a><\/li>\n<\/ul>\n<h4>2. \u70b9\u4e91\u5730\u56fe\u5207\u5272<\/h4>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=10196\" target=\"_blank\" rel=\"noopener\">Autoware\u2014\u70b9\u4e91\u5730\u56fe\u5206\u9694\u52a0\u8f7d<\/a><\/li>\n<\/ul>\n<h4>3. \u77e2\u91cf\u5730\u56fe\u5236\u4f5c<\/h4>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=9801\" target=\"_blank\" rel=\"noopener\">Unity\u2014MapToolBox\u7ed8\u5236VectorMap\u5730\u56fe<\/a><\/li>\n<\/ul>\n<h4>4. \u8ba1\u7b97GNSS\u4e0e\u5730\u56fe\u7684\u65cb\u8f6c\u77e9\u9635<\/h4>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=10031#3_NDTGNSS\" target=\"_blank\" rel=\"noopener\">Autoware\u2014GNSS\u8f85\u52a9NDT\u5b9a\u4f4d<\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1>\u4e09\u3001\u81ea\u52a8\u9a7e\u9a76\uff08\u4eff\u771f\uff09<\/h1>\n<h4>1. autoware.ai\uff1a<\/h4>\n<h6>1.1 \u73af\u5883\u51c6\u5907<\/h6>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=9911\" target=\"_blank\" rel=\"noopener\">Autoware\u2014AI\u7248\u672c\u7684\u90e8\u7f72<\/a><\/li>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=8246\" target=\"_blank\" rel=\"noopener\">Ubuntu20.04\u90e8\u7f72CUDA11.8\/cuDNN8.7<\/a><\/li>\n<\/ul>\n<h6>1.2 \u64ad\u5305\u9a8c\u8bc1<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># open docker\r\ncd ~\/autoware.ai\/\r\n.\/open-docker.sh\r\n\r\n# run in docker\r\nsource  ~\/Autoware\/install\/setup.bash\r\nroslaunch autolaunch run.launch use_gnss:=1 rviz:=true map_name:=xiangyansi control:=true bag_file:=\/home\/autoware\/shared_dir\/bag\/xiangyansi\/2025-09-01-19-11-11.bag bag_start:=0<\/code><\/pre>\n<h4><\/h4>\n<h4>2. autoware.universe\uff1a<\/h4>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=8732\" target=\"_blank\" rel=\"noopener\">Autoware\u2014Universe\u521d\u63a2<\/a><\/li>\n<li><a style=\"font-size: 1rem;\" href=\"https:\/\/yanjingang.com\/blog\/?p=9092\" target=\"_blank\" rel=\"noopener\">Nvidia Jetson AGX Orin\u7cfb\u7edf\u5237\u5199<\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1>\u56db\u3001\u81ea\u52a8\u9a7e\u9a76\uff08\u5b9e\u8f66\uff09<\/h1>\n<h4>1. autoware.ai\uff1a<\/h4>\n<h6>1.1 \u5b9e\u8f66\u9a8c\u8bc1<\/h6>\n<p>\u542f<span style=\"font-size: 1rem;\">\u52a8\u5e95\u76d8+\u4f20\u611f\u5668\uff1a<\/span><\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># start robot\r\ncd ~\/autoware.ai\/Robot\r\n.\/run.sh\r\n\r\n# record\r\n.\/hz.sh\r\n.\/record.sh<\/code><\/pre>\n<div>\n<div>\u4f7f\u7528\u547d\u4ee4\u65b9\u5f0f\u5feb\u901f\u542f\u52a8\u5b9a\u4f4d\u3001\u611f\u77e5\u3001PNC\uff1a<\/div>\n<\/div>\n<pre class=\"pure-highlightjs\"><code class=\"\"># open docker\r\ncd ~\/autoware.ai\/\r\n.\/open-docker.sh\r\n\r\n# build autolaunch\r\ncd ~\/Autoware\r\n.\/build.sh autolaunch\r\nsource ~\/Autoware\/install\/setup.bash\r\n\r\n# launch localization\/detection\/planner\r\n.\/run.sh\r\nor \r\nroslaunch autolaunch run.launch use_gnss:=1 map_name:=xiangyansi control:=true\r\n# launch control\r\ncd ~\/autoware.ai\/\r\n.\/exec-docker.sh\r\n.\/run.sh control<\/code><\/pre>\n<p>\u6253\u5f00rviz\u53ef\u89c6\u5316\u754c\u9762\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># rviz\r\ncd ~\/autoware.ai\/Robot\r\n.\/rviz.sh<\/code><\/pre>\n<p>\u6307\u5b9a\u76ee\u7684\u5730\uff0c\u5373\u53ef\u81ea\u52a8\u89c4\u5212\u8def\u5f84\u5e76\u63a7\u5236\u8f66\u8f86\u3002<\/p>\n<h4>2. autoware.universe\uff1a<\/h4>\n<p>\u5f85\u66f4\u65b0<\/p>\n<p>&nbsp;<\/p>\n<p>yan 12.7<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7531\u4e8e\u535a\u5ba2\u91cc\u6709\u5f88\u591a\u6478\u7d22\u548c\u5c1d\u8bd5\u7684\u6587\u7ae0\uff0c\u987a\u5e8f\u53ef\u80fd\u4f1a\u98a0\u5012\uff0c\u4e3a\u4e86\u65b9\u4fbf\u5927\u5bb6\u7cfb\u7edf\u6027\u7684\u5b66\u4e60\uff0c\u672c\u6587\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u7cfb\u7edf\u6027\u5b66\u4e60\u548c\u5b9e [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1368,923],"tags":[1369,855,966],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10712"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=10712"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10712\/revisions"}],"predecessor-version":[{"id":10894,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10712\/revisions\/10894"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=10712"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=10712"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=10712"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}