{"id":5249,"date":"2021-09-22T22:46:37","date_gmt":"2021-09-22T14:46:37","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=5249"},"modified":"2021-10-20T12:35:22","modified_gmt":"2021-10-20T04:35:22","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9fros-%e5%88%86%e5%b8%83%e5%bc%8f%e9%80%9a%e8%ae%af%e9%85%8d%e7%bd%ae","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=5249","title":{"rendered":"\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edfROS\u2014\u5206\u5e03\u5f0f\u8de8\u673a\u901a\u8baf\u914d\u7f6e"},"content":{"rendered":"<p>ROS \u673a\u5668\u4eba\u7684\u5b9e\u9a8c\u548c\u5f00\u53d1\u4e2d\uff0c\u901a\u5e38\u9700\u8981\u4e00\u53f0\u79fb\u52a8\u673a\u5668\u4eba\u548c\u4e00\u53f0 PC \u914d\u5408\u4f7f\u7528\uff0c\u4e0d\u5c11\u521d\u5b66\u8005\u90fd\u4f1a\u6709\u4e2a\u56f0\u60d1\uff0c\u5373PC\u548c\u673a\u5668\u4eba\u4e0a\u7684ROS\u547d\u4ee4\u90fd\u53ea\u9488\u5bf9\u672c\u673a\uff0c\u800c\u673a\u5668\u4eba\u4e0a\u7684ubuntu\u901a\u5e38\u90fd\u4e0d\u662f\u684c\u9762\u7248\uff0c\u90a3\u4e48PC\u4e0a\u90a3\u4e9b\u53ef\u89c6\u5316\u7684\u5de5\u5177\u600e\u4e48\u5e94\u7528\u5728\u673a\u5668\u4eba\u4e0a\u5462\uff1f\u5373\u600e\u4e48\u624d\u80fd\u5229\u7528PC\u4e0a\u7684ROS\u6307\u4ee4\u548c\u5de5\u5177\u76f4\u63a5\u8bbf\u95ee\u548c\u5c55\u793a\u673a\u5668\u4eba\u4e0a\u7684\u6570\u636e\u5462\uff1f\u5176\u5b9e\u975e\u5e38\u7b80\u5355\uff0c\u901a\u8fc7ROS_MASTER_URI\u5c31\u53ef\u4ee5\u65b9\u4fbf\u7684\u5b9e\u73b0\uff0c\u672c\u6587\u6211\u4eec\u5c31\u6765\u7b80\u5355\u4ecb\u7ecd\u4e00\u4e0b\u5427\u3002<\/p>\n<h1>1.\u786e\u4fdd\u673a\u5668\u4eba\u548c PC \u5904\u4e8e\u540c\u4e00\u7f51\u6bb5<\/h1>\n<p>\u8fd9\u4e2a\u6bd4\u8f83\u5bb9\u6613\uff0c\u901a\u5e38\u60c5\u51b5\u4e0b\u6709\u4e24\u79cd\u65b9\u6cd5\uff1a<\/p>\n<h2>1.1.\u8fde\u63a5\u5230\u673a\u5668\u4eba\u7684AP\u70ed\u70b9<\/h2>\n<p>\u673a\u5668\u4eba\u4e0a\u5b89\u88c5\u7f51\u7edc\u6a21\u5757\uff0c\u5e76\u542f\u52a8AP\u70ed\u70b9\uff0c\u8bbe\u7f6eWIFI\u540d\u79f0\u548c\u5bc6\u7801\uff0c\u8ba9PC\u8fde\u63a5\u5230\u673a\u5668\u4eba\u4e0a\uff0c\u6b64\u65f6\u4ed6\u4eec\u4f1a\u5904\u4e8e\u540c\u4e00\u7f51\u6bb5\u7684\u5c40\u57df\u7f51\uff0c\u7f3a\u70b9\u662f\u5982\u679c\u673a\u5668\u4eba\u6ca1\u67094\/5G\u4e0a\u7f51\u5361\u7684\u8bdd\uff0cPC\u4f1a\u6ca1\u6cd5\u4e0a\u7f51\uff0c\u6bd4\u8f83\u4e0d\u65b9\u4fbf\u641c\u7d22\u8d44\u6599\u3002<\/p>\n<h2>1.2.\u8fde\u63a5\u5230\u540c\u4e00\u4e2aWIFI\u8def\u7531\u5668<\/h2>\n<p>\u7edf\u4e00\u90fd\u8fde\u63a5\u5230\u5bb6\u91cc\u7684WIFI\u8def\u7531\u5668\u4e0a\u6216\u81ea\u5df1\u624b\u673a\u7684WIFI\u70ed\u70b9\uff0c\u8fd9\u6837\u5c31\u53ef\u4ee5\u5373\u80fd\u5904\u4e8e\u540c\u4e00\u4e2a\u7f51\u6bb5\uff0c\u53c8\u90fd\u80fd\u4e0a\u7f51\u4e86\u3002<\/p>\n<p>\u8fd9\u91cc\u6211\u91c7\u7528\u7b2c\u4e8c\u79cd\u65b9\u6cd5\uff0c\u5e76\u68c0\u67e5\u4e24\u7aef\u7684IP\u5730\u5740\uff0c\u786e\u4fdd\u76f8\u4e92\u53ef\u4ee5ping\u901a\uff01<\/p>\n<p>PC IP\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-mars.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5251\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-mars.jpg\" alt=\"\" width=\"677\" height=\"182\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-mars.jpg 677w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-mars-300x81.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-mars-624x168.jpg 624w\" sizes=\"(max-width: 677px) 100vw, 677px\" \/><\/a><\/p>\n<p>\u673a\u5668\u4ebaIP\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-robot.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5254\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-robot.jpg\" alt=\"\" width=\"684\" height=\"154\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-robot.jpg 684w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-robot-300x68.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/ip-robot-624x140.jpg 624w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/a><\/p>\n<h1>2.PC\u7aef\u8bbe\u7f6eROS_MASTER_URI<\/h1>\n<h2>2.1.\u673a\u5668\u4eba\u7aef\u914d\u7f6e<\/h2>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u4fee\u6539\u673a\u5668\u4eba\u7aef\u7684\u914d\u7f6e\r\nworkpi-ubuntu:~$ vim ~\/.bashrc\r\n  source \/opt\/ros\/melodic\/setup.bash\r\n  source \/home\/work\/catkin_ws\/devel\/setup.bash\r\n\r\n  export ROS_IP=`hostname -I | awk '{print $1}'`\r\n  export ROS_HOSTNAME=`hostname -I | awk '{print $1}'`\r\n  export ROS_MASTER_URI=http:\/\/`hostname -I | awk '{print $1}'`:11311    #master\u6307\u5411\u81ea\u5df1\r\n\r\n# \u4f7f\u914d\u7f6e\u751f\u6548\r\nwork@pi-ubuntu:~$ source ~\/.bashrc\r\n<\/code><\/pre>\n<p>\u542f\u52a8\u6210\u529f\u65f6\uff0c\u4f1a\u6253\u5370\u4ee5\u4e0b\u5185\u5bb9\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">work@pi-ubuntu:~$ roscore\r\n...\r\nauto-starting new master\r\nprocess[master]: started with pid [16462]\r\nROS_MASTER_URI=http:\/\/192.168.0.103:11311\/\r\n...<\/code><\/pre>\n<h2>2.2.PC\u7aef\u8bbe\u7f6e<\/h2>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u4fee\u6539roscore\u6307\u5411\u914d\u7f6e\r\nwork@mars:~$ vim  ~\/.bashrc\r\n  # robot\r\n  source \/opt\/ros\/melodic\/setup.bash\r\n  source \/home\/work\/catkin_ws\/devel\/setup.bash\r\n  export ROS_IP=`hostname -I | awk '{print $1}'`\r\n  export ROS_HOSTNAME=`hostname -I | awk '{print $1}'`\r\n  export ROS_MASTER_URI=http:\/\/<span style=\"color: #ff0000;\">192.168.0.103<\/span>:11311\/   #master\u6307\u5411\u673a\u5668\u4eba\r\n\r\n# \u4f7f\u914d\u7f6e\u751f\u6548\r\nwork@mars:~$ source ~\/.bashrc\r\n<\/code><\/pre>\n<h1>3.\u6d4b\u8bd5<\/h1>\n<h2>3.1.\u673a\u5668\u4eba\u7aef\u542f\u52a8<\/h2>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u5e95\u76d8\u63a7\u5236\r\nwork@pi-ubuntu:~$ roslaunch base_control base_control.launch pub_imu:=true\r\n# \u542f\u52a8\u6444\u50cf\u5934\r\nwork@pi-ubuntu:~$ roslaunch robot_vision robot_camera.launch<\/code><\/pre>\n<h2>3.2.PC\u7aef\u67e5\u770b\u548c\u5c55\u793a\u673a\u5668\u4eba\u6570\u636e<\/h2>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u67e5\u770b\u673a\u5668\u4ebatopic\r\nwork@mars:~$ rostopic list\r\n# rqt\u67e5\u770b\u56fe\u50cf\r\nwork@mars:~$ rqt_image_view\r\n<\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/rqt_image_view.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5265\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/rqt_image_view.jpg\" alt=\"\" width=\"1000\" height=\"648\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/rqt_image_view.jpg 1000w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/rqt_image_view-300x194.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/rqt_image_view-768x498.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2021\/09\/rqt_image_view-624x404.jpg 624w\" sizes=\"(max-width: 1000px) 100vw, 1000px\" \/><\/a><\/p>\n<p>\u53ef\u4ee5\u770b\u5230\u8ddf\u672c\u5730\u63a7\u5236\u662f\u4e00\u6837\u7684\uff0c\u5269\u4e0b\u7684\u5c31\u4e0d\u7528\u518d\u591a\u8bf4\u4e86\u5427\uff0crqt_graph\u3001rviz\u641e\u8d77\u6765\uff01<\/p>\n<p>yan 21.9.22 23:44<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>ROS \u673a\u5668\u4eba\u7684\u5b9e\u9a8c\u548c\u5f00\u53d1\u4e2d\uff0c\u901a\u5e38\u9700\u8981\u4e00\u53f0\u79fb\u52a8\u673a\u5668\u4eba\u548c\u4e00\u53f0 PC \u914d\u5408\u4f7f\u7528\uff0c\u4e0d\u5c11\u521d\u5b66\u8005\u90fd\u4f1a\u6709\u4e2a\u56f0\u60d1\uff0c\u5373PC\u548c\u673a [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1005],"tags":[968,1152],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/5249"}],"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=5249"}],"version-history":[{"count":0,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/5249\/revisions"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5249"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=5249"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=5249"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}