{"id":849309,"date":"2024-07-29T18:55:12","date_gmt":"2024-07-29T10:55:12","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/849309.html"},"modified":"2024-07-29T18:55:15","modified_gmt":"2024-07-29T10:55:15","slug":"%e6%bf%80%e5%85%89%e5%af%bc%e8%88%aa%e7%94%a8%e4%bb%80%e4%b9%88%e7%b3%bb%e7%bb%9f%e5%bc%80%e5%8f%91","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/849309.html","title":{"rendered":"\u6fc0\u5149\u5bfc\u822a\u7528\u4ec0\u4e48\u7cfb\u7edf\u5f00\u53d1"},"content":{"rendered":"

\"\u6fc0\u5149\u5bfc\u822a\u7528\u4ec0\u4e48\u7cfb\u7edf\u5f00\u53d1\"<\/p>\n

\u6fc0\u5149\u5bfc\u822a\u5f00\u53d1\u7cfb\u7edf\u4e3b\u8981\u4f7f\u7528ROS\uff08Robot Operating System\uff09\u548cSLAM\uff08Simultaneous Localization and Mapping\uff09\u6280\u672f<\/strong>\u3002ROS\u662f\u4e00\u5957\u6846\u67b6\uff0c\u63d0\u4f9b\u786c\u4ef6\u62bd\u8c61\u3001\u8bbe\u5907\u9a71\u52a8\u3001\u5e93\u51fd\u6570\u3001\u89c6\u89c9\u5668\u3001\u6d88\u606f\u4f20\u9012\u3001\u5305\u7ba1\u7406\u7b49\u529f\u80fd\uff0c\u662f\u5f00\u53d1\u673a\u5668\u4eba\u5e94\u7528\u7684\u91cd\u8981\u5de5\u5177<\/strong>\u3002\u800cSLAM\u6280\u672f\u5219\u662f\u4e00\u79cd\u5b9e\u65f6\u5730\u6784\u5efa\u6216\u66f4\u65b0\u673a\u5668\u4eba\u73af\u5883\u5730\u56fe\u7684\u540c\u65f6\uff0c\u518d\u5728\u5730\u56fe\u4e2d\u5b9a\u4f4d\u673a\u5668\u4eba\u81ea\u8eab\u4f4d\u7f6e\u7684\u7b97\u6cd5\u3002<\/p>\n<\/p>\n

\u4e00\u3001ROS\uff08ROBOT OPERATING SYSTEM\uff09\u7684\u4f7f\u7528<\/p>\n<\/p>\n

ROS\uff0c\u5168\u79f0\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0c\u662f\u4e00\u5957\u5f00\u6e90\u7684\u673a\u5668\u4eba\u8f6f\u4ef6\u5e73\u53f0\u3002\u5b83\u63d0\u4f9b\u4e86\u4e00\u79cd\u7b80\u6d01\u7684\u65b9\u5f0f\u6765\u63cf\u8ff0\u4e0d\u540c\u673a\u5668\u4eba\u7684\u884c\u4e3a\uff0c\u5e76\u4e14\u53ef\u4ee5\u5904\u7406\u786c\u4ef6\u63a5\u53e3\uff0c\u4f7f\u5f00\u53d1\u8005\u53ef\u4ee5\u66f4\u4e13\u6ce8\u4e8e\u673a\u5668\u4eba\u7684\u5e94\u7528\u5f00\u53d1\u3002<\/p>\n<\/p>\n

    \n
  1. ROS\u7684\u4f18\u52bf<\/li>\n<\/ol>\n

    ROS\u5177\u6709\u4e30\u5bcc\u7684\u5de5\u5177\u548c\u5e93\uff0c\u53ef\u4ee5\u4f7f\u5f00\u53d1\u8005\u66f4\u5feb\u901f\u3001\u66f4\u4fbf\u6377\u5730\u8fdb\u884c\u673a\u5668\u4eba\u5f00\u53d1\u3002\u5b83\u63d0\u4f9b\u4e86\u5305\u62ec\u786c\u4ef6\u62bd\u8c61\u3001\u8bbe\u5907\u9a71\u52a8\u3001\u5e93\u51fd\u6570\u3001\u53ef\u89c6\u5316\u5668\u3001\u6d88\u606f\u4f20\u9012\u3001\u5305\u7ba1\u7406\u7b49\u529f\u80fd\uff0c\u53ef\u4ee5\u6ee1\u8db3\u5404\u79cd\u5404\u6837\u7684\u673a\u5668\u4eba\u5f00\u53d1\u9700\u6c42\u3002<\/p>\n<\/p>\n

      \n
    1. ROS\u5728\u6fc0\u5149\u5bfc\u822a\u4e2d\u7684\u5e94\u7528<\/li>\n<\/ol>\n

      ROS\u4e2d\u5305\u542b\u4e86\u8bb8\u591a\u7528\u4e8e\u6fc0\u5149\u5bfc\u822a\u7684\u529f\u80fd\u5305\uff0c\u5982move_base\u3001amcl\u7b49\u3002move_base\u662fROS\u4e2d\u7528\u4e8e\u63a7\u5236\u673a\u5668\u4eba\u79fb\u52a8\u7684\u529f\u80fd\u5305\uff0c\u5b83\u53ef\u4ee5\u63a5\u6536\u76ee\u6807\u70b9\u7684\u4f4d\u7f6e\u548c\u59ff\u6001\u4fe1\u606f\uff0c\u5e76\u6839\u636e\u5f53\u524d\u673a\u5668\u4eba\u7684\u4f4d\u7f6e\u548c\u73af\u5883\u4fe1\u606f\u89c4\u5212\u51fa\u4e00\u6761\u6700\u4f18\u7684\u8def\u5f84\u3002amcl\u5219\u662f\u7528\u4e8e\u673a\u5668\u4eba\u5b9a\u4f4d\u7684\u529f\u80fd\u5305\uff0c\u5b83\u53ef\u4ee5\u6839\u636e\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u4fe1\u606f\u548c\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\uff0c\u91c7\u7528\u8499\u7279\u5361\u6d1b\u5b9a\u4f4d\u65b9\u6cd5\u5b9e\u65f6\u5730\u4f30\u8ba1\u673a\u5668\u4eba\u7684\u4f4d\u7f6e\u3002<\/p>\n<\/p>\n

      \u4e8c\u3001SLAM\uff08SIMULTANEOUS LOCALIZATION AND MAPPING\uff09\u7684\u4f7f\u7528<\/p>\n<\/p>\n

      SLAM\uff0c\u5373\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff0c\u662f\u4e00\u79cd\u5b9e\u65f6\u5730\u6784\u5efa\u6216\u66f4\u65b0\u673a\u5668\u4eba\u73af\u5883\u5730\u56fe\u7684\u540c\u65f6\uff0c\u518d\u5728\u5730\u56fe\u4e2d\u5b9a\u4f4d\u673a\u5668\u4eba\u81ea\u8eab\u4f4d\u7f6e\u7684\u7b97\u6cd5\u3002\u8fd9\u662f\u4e00\u79cd\u5bf9\u4e8e\u672a\u77e5\u73af\u5883\u8fdb\u884c\u5bfc\u822a\u7684\u91cd\u8981\u6280\u672f\u3002<\/p>\n<\/p>\n

        \n
      1. SLAM\u7684\u4f18\u52bf<\/li>\n<\/ol>\n

        SLAM\u6280\u672f\u53ef\u4ee5\u5728\u672a\u77e5\u73af\u5883\u4e2d\u6784\u5efa\u5730\u56fe\uff0c\u5e76\u5b9e\u65f6\u5b9a\u4f4d\u673a\u5668\u4eba\u7684\u4f4d\u7f6e\uff0c\u8fd9\u5bf9\u4e8e\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u5bfc\u822a\u81f3\u5173\u91cd\u8981\u3002\u6b64\u5916\uff0cSLAM\u4e5f\u53ef\u4ee5\u7528\u4e8e\u673a\u5668\u4eba\u7684\u73af\u5883\u611f\u77e5\uff0c\u5e2e\u52a9\u673a\u5668\u4eba\u66f4\u597d\u5730\u7406\u89e3\u5468\u56f4\u73af\u5883\uff0c\u4ece\u800c\u505a\u51fa\u66f4\u51c6\u786e\u7684\u51b3\u7b56\u3002<\/p>\n<\/p>\n

          \n
        1. SLAM\u5728\u6fc0\u5149\u5bfc\u822a\u4e2d\u7684\u5e94\u7528<\/li>\n<\/ol>\n

          \u5728\u6fc0\u5149\u5bfc\u822a\u4e2d\uff0cSLAM\u901a\u5e38\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7ed3\u5408\u4f7f\u7528\u3002\u6fc0\u5149\u96f7\u8fbe\u53ef\u4ee5\u83b7\u53d6\u73af\u5883\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u800cSLAM\u5219\u53ef\u4ee5\u6839\u636e\u8fd9\u4e9b\u4fe1\u606f\u6784\u5efa\u5730\u56fe\u5e76\u5b9a\u4f4d\u673a\u5668\u4eba\u7684\u4f4d\u7f6e\u3002\u5176\u4e2d\uff0c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684SLAM\u7b97\u6cd5\u6709\u5f88\u591a\uff0c\u5982GMapping\u3001Hector SLAM\u3001Cartographer\u7b49\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u6839\u636e\u5b9e\u9645\u9700\u6c42\u9009\u62e9\u5408\u9002\u7684\u7b97\u6cd5\u3002<\/p>\n<\/p>\n

          \u603b\u7ed3\uff0c\u6fc0\u5149\u5bfc\u822a\u7684\u5f00\u53d1\u7cfb\u7edf\u4e3b\u8981\u5229\u7528ROS\u548cSLAM\u6280\u672f\uff0c\u901a\u8fc7ROS\u63d0\u4f9b\u7684\u4e30\u5bcc\u5de5\u5177\u548c\u5e93\u51fd\u6570\uff0c\u4ee5\u53caSLAM\u7684\u5b9e\u65f6\u5730\u56fe\u6784\u5efa\u548c\u5b9a\u4f4d\u80fd\u529b\uff0c\u5b9e\u73b0\u5bf9\u673a\u5668\u4eba\u7684\u7cbe\u786e\u63a7\u5236\u548c\u5bfc\u822a\u3002<\/p>\n<\/p>\n

          \u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n

          1. \u6fc0\u5149\u5bfc\u822a\u662f\u5982\u4f55\u5b9e\u73b0\u81ea\u52a8\u5bfc\u822a\u7684\uff1f<\/strong>
          \n\u6fc0\u5149\u5bfc\u822a\u662f\u901a\u8fc7\u4f7f\u7528\u6fc0\u5149\u4f20\u611f\u5668\u548c\u76f8\u5e94\u7684\u5bfc\u822a\u7cfb\u7edf\u6765\u5b9e\u73b0\u81ea\u52a8\u5bfc\u822a\u7684\u3002\u6fc0\u5149\u4f20\u611f\u5668\u4f1a\u53d1\u5c04\u6fc0\u5149\u675f\uff0c\u5e76\u901a\u8fc7\u63a5\u6536\u6fc0\u5149\u675f\u7684\u53cd\u5c04\u6765\u6d4b\u91cf\u7269\u4f53\u7684\u8ddd\u79bb\u548c\u4f4d\u7f6e\u3002\u5bfc\u822a\u7cfb\u7edf\u4f1a\u6839\u636e\u6fc0\u5149\u4f20\u611f\u5668\u7684\u6570\u636e\uff0c\u8ba1\u7b97\u51fa\u673a\u5668\u4eba\u7684\u5f53\u524d\u4f4d\u7f6e\u548c\u59ff\u6001\uff0c\u5e76\u4f7f\u7528\u7b97\u6cd5\u89c4\u5212\u51fa\u5408\u9002\u7684\u8def\u5f84\uff0c\u4ece\u800c\u5b9e\u73b0\u81ea\u52a8\u5bfc\u822a\u3002<\/p>\n

          2. \u6fc0\u5149\u5bfc\u822a\u7cfb\u7edf\u7684\u5f00\u53d1\u9700\u8981\u7528\u5230\u54ea\u4e9b\u6280\u672f\uff1f<\/strong>
          \n\u6fc0\u5149\u5bfc\u822a\u7cfb\u7edf\u7684\u5f00\u53d1\u9700\u8981\u7528\u5230\u591a\u79cd\u6280\u672f\u3002\u9996\u5148\uff0c\u9700\u8981\u6fc0\u5149\u4f20\u611f\u5668\u6280\u672f\uff0c\u7528\u4e8e\u6d4b\u91cf\u7269\u4f53\u7684\u8ddd\u79bb\u548c\u4f4d\u7f6e\u3002\u5176\u6b21\uff0c\u9700\u8981\u673a\u5668\u89c6\u89c9\u6280\u672f\uff0c\u7528\u4e8e\u5904\u7406\u6fc0\u5149\u4f20\u611f\u5668\u7684\u6570\u636e\uff0c\u5e76\u63d0\u53d6\u51fa\u6709\u7528\u7684\u4fe1\u606f\u3002\u8fd8\u9700\u8981\u4f7f\u7528\u7b97\u6cd5\u548c\u8ba1\u7b97\u673a\u7f16\u7a0b\u6280\u672f\uff0c\u7528\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\u6570\u636e\u7684\u5904\u7406\u3001\u8def\u5f84\u89c4\u5212\u548c\u63a7\u5236\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u3002\u6b64\u5916\uff0c\u8fd8\u9700\u8981\u786c\u4ef6\u8bbe\u8ba1\u548c\u5d4c\u5165\u5f0f\u7cfb\u7edf\u5f00\u53d1\u6280\u672f\uff0c\u7528\u4e8e\u5b9e\u73b0\u6fc0\u5149\u4f20\u611f\u5668\u548c\u5bfc\u822a\u7cfb\u7edf\u7684\u786c\u4ef6\u90e8\u5206\u3002<\/p>\n

          3. \u6fc0\u5149\u5bfc\u822a\u7cfb\u7edf\u7684\u5f00\u53d1\u6709\u54ea\u4e9b\u5e94\u7528\u9886\u57df\uff1f<\/strong>
          \n\u6fc0\u5149\u5bfc\u822a\u7cfb\u7edf\u7684\u5f00\u53d1\u5728\u8bb8\u591a\u9886\u57df\u90fd\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\u3002\u4f8b\u5982\uff0c\u5728\u7269\u6d41\u4ed3\u50a8\u9886\u57df\uff0c\u6fc0\u5149\u5bfc\u822a\u7cfb\u7edf\u53ef\u4ee5\u7528\u4e8e\u81ea\u52a8\u5bfc\u822a\u7684AGV\uff08\u81ea\u52a8\u5bfc\u5f15\u8f66\uff09\u548c\u673a\u5668\u4eba\uff0c\u5b9e\u73b0\u8d27\u7269\u7684\u81ea\u52a8\u8fd0\u8f93\u548c\u4ed3\u5e93\u7684\u81ea\u52a8\u5316\u7ba1\u7406\u3002\u5728\u6e05\u6d01\u670d\u52a1\u9886\u57df\uff0c\u6fc0\u5149\u5bfc\u822a\u7cfb\u7edf\u53ef\u4ee5\u7528\u4e8e\u81ea\u52a8\u5438\u5c18\u5668\u548c\u6e05\u6d01\u673a\u5668\u4eba\uff0c\u5b9e\u73b0\u81ea\u52a8\u6e05\u6d01\u548c\u5ba4\u5185\u73af\u5883\u7684\u6539\u5584\u3002\u6b64\u5916\uff0c\u6fc0\u5149\u5bfc\u822a\u7cfb\u7edf\u8fd8\u53ef\u4ee5\u5e94\u7528\u4e8e\u667a\u80fd\u5bb6\u5c45\u3001\u533b\u7597\u673a\u5668\u4eba\u3001\u65e0\u4eba\u9a7e\u9a76\u8f66\u8f86\u7b49\u9886\u57df\uff0c\u4e3a\u4eba\u4eec\u7684\u751f\u6d3b\u548c\u5de5\u4f5c\u5e26\u6765\u4fbf\u5229\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"\u6fc0\u5149\u5bfc\u822a\u5f00\u53d1\u7cfb\u7edf\u4e3b\u8981\u4f7f\u7528ROS\uff08Robot Operating System\uff09\u548cSLAM\uff08Simultaneo […]","protected":false},"author":3,"featured_media":849314,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[37],"tags":[],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/849309"}],"collection":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/comments?post=849309"}],"version-history":[{"count":"1","href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/849309\/revisions"}],"predecessor-version":[{"id":849318,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/849309\/revisions\/849318"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media\/849314"}],"wp:attachment":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media?parent=849309"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/categories?post=849309"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/tags?post=849309"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}