[{"data":1,"prerenderedAt":603},["ShallowReactive",2],{"wiki-page-/wiki/2023-12-30-ros2-tutorial/ch20-opencv":3,"wiki-doc-items-/wiki/2023-12-30-ros2-tutorial/ch20-opencv":459},{"id":4,"title":5,"body":6,"chapter":445,"chapterSort":446,"date":447,"description":56,"docKey":448,"docRoot":449,"docTitle":450,"extension":451,"isWikiDoc":99,"isWikiIndex":452,"layout":453,"meta":454,"navigation":99,"path":455,"seo":456,"stem":457,"wikiDepth":96,"__hash__":458},"content/wiki/2023-12-30-ros2-tutorial/ch20-OpenCV.md","OpenCV",{"type":7,"value":8,"toc":441},"minimark",[9,13,23,27,30,36,42,45,51,61,65,73,80,83,149,154,157,160,165,168,216,219,234,237,242,253,256,261,305,369,372,391,394,399,402,411,418,427,434,437],[10,11,5],"h3",{"id":12},"opencv",[14,15,16],"p",{},[17,18,22],"a",{"href":19,"rel":20},"https://sdutvincirobot.feishu.cn/wiki/D50twQJ2UiVvaDky8Sic3aPOnEh",[21],"nofollow","基础视觉算法-OpenCV实现",[10,24,26],{"id":25},"cv_bridge","CV_Bridge",[14,28,29],{},"cv_bridge维基百科介绍:",[14,31,32],{},[17,33,34],{"href":34,"rel":35},"https://wiki.ros.org/cv_bridge",[21],[14,37,38],{},[17,39,40],{"href":40,"rel":41},"https://index.ros.org/p/cv_bridge/",[21],[14,43,44],{},"ROS2Humble的cv_bridge仓库链接(注意选择对应版本的分支branches):",[14,46,47],{},[17,48,49],{"href":49,"rel":50},"https://github.com/ros-perception/vision_opencv/tree/humble",[21],[14,52,53,58],{},[54,55],"img",{"alt":56,"src":57},"","https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1953.webp",[54,59],{"alt":56,"src":60},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1954.webp",[62,63,64],"h4",{"id":64},"安装",[14,66,67,68],{},"提前自己编译好带CUDA的OpenCV4,详见",[17,69,72],{"href":70,"rel":71},"https://sdutvincirobot.feishu.cn/wiki/FQszwXIR5iQgCfk7pRwc9rYpnqg",[21],"电控组环境搭建大全",[74,75,76],"ol",{},[77,78,79],"li",{},"apt安装(不建议)",[14,81,82],{},"由于ros自带的cv_bridge自动链接ros自带的oepncv版本,所以我们一般不会用ros2自带的cv_bridge,一般都需要自己手动编译一个cv_bridge.",[84,85,89],"pre",{"className":86,"code":87,"language":88,"meta":56,"style":56},"language-cmake shiki shiki-themes github-light github-dark","\n# 通用命令\nsudo apt install ros-\u003Cros2-distro>-vision-opencv\n\n# ROS2 Humble\nsudo apt install ros-humble-vision-opencv\n\n# ROS2 Jazzy\nsudo apt install ros-jazzy-vision-opencv\n","cmake",[90,91,92,101,108,115,120,126,132,137,143],"code",{"__ignoreMap":56},[93,94,97],"span",{"class":95,"line":96},"line",1,[93,98,100],{"emptyLinePlaceholder":99},true,"\n",[93,102,104],{"class":95,"line":103},2,[93,105,107],{"class":106},"sJ8bj","# 通用命令\n",[93,109,111],{"class":95,"line":110},3,[93,112,114],{"class":113},"sVt8B","sudo apt install ros-\u003Cros2-distro>-vision-opencv\n",[93,116,118],{"class":95,"line":117},4,[93,119,100],{"emptyLinePlaceholder":99},[93,121,123],{"class":95,"line":122},5,[93,124,125],{"class":106},"# ROS2 Humble\n",[93,127,129],{"class":95,"line":128},6,[93,130,131],{"class":113},"sudo apt install ros-humble-vision-opencv\n",[93,133,135],{"class":95,"line":134},7,[93,136,100],{"emptyLinePlaceholder":99},[93,138,140],{"class":95,"line":139},8,[93,141,142],{"class":106},"# ROS2 Jazzy\n",[93,144,146],{"class":95,"line":145},9,[93,147,148],{"class":113},"sudo apt install ros-jazzy-vision-opencv\n",[74,150,151],{"start":103},[77,152,153],{},"源码编译安装(建议)",[14,155,156],{},"本教程以jazzy为例子.",[14,158,159],{},"首先克隆仓库,克隆jazzy,humble,rolling都可以,只要是ROS2的基本都没啥大变化.但是官方暂时没出jazzy,我就直接克隆默认的rolling了.",[14,161,162],{},[54,163],{"alt":56,"src":164},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1955.webp",[14,166,167],{},"新建一个文件夹",[84,169,171],{"className":86,"code":170,"language":88,"meta":56,"style":56},"mkdir ~/ros2_ws/src\ncd ~/ros2_ws/src\n\n# 克隆源码\ngit clone https://github.com/ros-perception/vision_opencv.git\ncd vision_opencv\n\n# 如果是humble建议:\ngit checkout humble\n",[90,172,173,178,183,187,192,197,202,206,211],{"__ignoreMap":56},[93,174,175],{"class":95,"line":96},[93,176,177],{"class":113},"mkdir ~/ros2_ws/src\n",[93,179,180],{"class":95,"line":103},[93,181,182],{"class":113},"cd ~/ros2_ws/src\n",[93,184,185],{"class":95,"line":110},[93,186,100],{"emptyLinePlaceholder":99},[93,188,189],{"class":95,"line":117},[93,190,191],{"class":106},"# 克隆源码\n",[93,193,194],{"class":95,"line":122},[93,195,196],{"class":113},"git clone https://github.com/ros-perception/vision_opencv.git\n",[93,198,199],{"class":95,"line":128},[93,200,201],{"class":113},"cd vision_opencv\n",[93,203,204],{"class":95,"line":134},[93,205,100],{"emptyLinePlaceholder":99},[93,207,208],{"class":95,"line":139},[93,209,210],{"class":106},"# 如果是humble建议:\n",[93,212,213],{"class":95,"line":145},[93,214,215],{"class":113},"git checkout humble\n",[14,217,218],{},"安装依赖:",[84,220,222],{"className":86,"code":221,"language":88,"meta":56,"style":56},"sudo apt install python3-numpy\nsudo apt install libboost-python-dev\n",[90,223,224,229],{"__ignoreMap":56},[93,225,226],{"class":95,"line":96},[93,227,228],{"class":113},"sudo apt install python3-numpy\n",[93,230,231],{"class":95,"line":103},[93,232,233],{"class":113},"sudo apt install libboost-python-dev\n",[14,235,236],{},"修改cv_bridge的CMakeLists",[14,238,239],{},[54,240],{"alt":56,"src":241},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1956.webp",[14,243,244,245,248,249,252],{},"将原本的",[90,246,247],{},"find_package(OpenCV 4 QUIET)","改为精确匹配版本，并添加",[90,250,251],{},"EXACT","参数：",[14,254,255],{},"EXACT是未找到精确版本时，CMake会报错并终止构建.",[14,257,258],{},[54,259],{"alt":56,"src":260},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1957.webp",[84,262,264],{"className":86,"code":263,"language":88,"meta":56,"style":56},"find_package(OpenCV 4.11 EXACT QUIET\n  COMPONENTS\n    opencv_core\n    opencv_imgproc\n    opencv_imgcodecs\n  CONFIG\n)\n",[90,265,266,275,280,285,290,295,300],{"__ignoreMap":56},[93,267,268,272],{"class":95,"line":96},[93,269,271],{"class":270},"szBVR","find_package",[93,273,274],{"class":113},"(OpenCV 4.11 EXACT QUIET\n",[93,276,277],{"class":95,"line":103},[93,278,279],{"class":113},"  COMPONENTS\n",[93,281,282],{"class":95,"line":110},[93,283,284],{"class":113},"    opencv_core\n",[93,286,287],{"class":95,"line":117},[93,288,289],{"class":113},"    opencv_imgproc\n",[93,291,292],{"class":95,"line":122},[93,293,294],{"class":113},"    opencv_imgcodecs\n",[93,296,297],{"class":95,"line":128},[93,298,299],{"class":113},"  CONFIG\n",[93,301,302],{"class":95,"line":134},[93,303,304],{"class":113},")\n",[84,306,308],{"className":86,"code":307,"language":88,"meta":56,"style":56},"cd ~/ros2_ws\n\n# 下面这三个根据情况三选一,一般是第一个colcon build --symlink-install\n\n# 如果你曾经没编译过\ncolcon build --symlink-install\n\n# 如果你只想编译cv_bridge\ncolcon build --symlink-install --packages-select cv_bridge\n\n# 如果你曾经编译过一遍,则需要下列命令\ncolcon build --symlink-install --packages-select cv_bridge --allow-overriding cv_bridge\n",[90,309,310,315,319,324,328,333,338,342,347,352,357,363],{"__ignoreMap":56},[93,311,312],{"class":95,"line":96},[93,313,314],{"class":113},"cd ~/ros2_ws\n",[93,316,317],{"class":95,"line":103},[93,318,100],{"emptyLinePlaceholder":99},[93,320,321],{"class":95,"line":110},[93,322,323],{"class":106},"# 下面这三个根据情况三选一,一般是第一个colcon build --symlink-install\n",[93,325,326],{"class":95,"line":117},[93,327,100],{"emptyLinePlaceholder":99},[93,329,330],{"class":95,"line":122},[93,331,332],{"class":106},"# 如果你曾经没编译过\n",[93,334,335],{"class":95,"line":128},[93,336,337],{"class":113},"colcon build --symlink-install\n",[93,339,340],{"class":95,"line":134},[93,341,100],{"emptyLinePlaceholder":99},[93,343,344],{"class":95,"line":139},[93,345,346],{"class":106},"# 如果你只想编译cv_bridge\n",[93,348,349],{"class":95,"line":145},[93,350,351],{"class":113},"colcon build --symlink-install --packages-select cv_bridge\n",[93,353,355],{"class":95,"line":354},10,[93,356,100],{"emptyLinePlaceholder":99},[93,358,360],{"class":95,"line":359},11,[93,361,362],{"class":106},"# 如果你曾经编译过一遍,则需要下列命令\n",[93,364,366],{"class":95,"line":365},12,[93,367,368],{"class":113},"colcon build --symlink-install --packages-select cv_bridge --allow-overriding cv_bridge\n",[14,370,371],{},"验证:",[84,373,375],{"className":86,"code":374,"language":88,"meta":56,"style":56},"\n# 列出cv_bridge链接的opencv版本\nldd ./install/cv_bridge/lib/libcv_bridge.so | grep opencv \n",[90,376,377,381,386],{"__ignoreMap":56},[93,378,379],{"class":95,"line":96},[93,380,100],{"emptyLinePlaceholder":99},[93,382,383],{"class":95,"line":103},[93,384,385],{"class":106},"# 列出cv_bridge链接的opencv版本\n",[93,387,388],{"class":95,"line":110},[93,389,390],{"class":113},"ldd ./install/cv_bridge/lib/libcv_bridge.so | grep opencv\n",[14,392,393],{},"如下图,我的成功链接到411了,也就是opencv4.11版本.",[14,395,396],{},[54,397],{"alt":56,"src":398},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1958.webp",[14,400,401],{},"接下来配置环境:",[84,403,405],{"className":86,"code":404,"language":88,"meta":56,"style":56},"vim ~/.bashrc\n",[90,406,407],{"__ignoreMap":56},[93,408,409],{"class":95,"line":96},[93,410,404],{"class":113},[14,412,413,414,417],{},"在",[90,415,416],{},"source /opt/ros/jazzy/setup.bash","的下一行加入下面这句",[84,419,421],{"className":86,"code":420,"language":88,"meta":56,"style":56},"source ~/ros2_ws/install/setup.bash\n",[90,422,423],{"__ignoreMap":56},[93,424,425],{"class":95,"line":96},[93,426,420],{"class":113},[14,428,429,430,433],{},"输入",[90,431,432],{},":wq","保存",[14,435,436],{},"完成安装与环境配置结束.",[438,439,440],"style",{},"html pre.shiki code .sJ8bj, html code.shiki .sJ8bj{--shiki-default:#6A737D;--shiki-dark:#6A737D}html pre.shiki code .sVt8B, html code.shiki .sVt8B{--shiki-default:#24292E;--shiki-dark:#E1E4E8}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html pre.shiki code .szBVR, html code.shiki .szBVR{--shiki-default:#D73A49;--shiki-dark:#F97583}",{"title":56,"searchDepth":103,"depth":103,"links":442},[443,444],{"id":12,"depth":110,"text":5},{"id":25,"depth":110,"text":26},"20",20000000,"2023-12-30","2023-12-30-ros2-tutorial","/wiki/2023-12-30-ros2-tutorial","Ros2 Tutorial","md",false,null,{},"/wiki/2023-12-30-ros2-tutorial/ch20-opencv",{"title":5,"description":56},"wiki/2023-12-30-ros2-tutorial/ch20-OpenCV","ypUKMHDQRo1IwAMPSzBytn3iFAcCgOaX0X2aKUFX1d4",[460,466,472,478,484,490,496,502,508,514,520,526,532,538,544,550,556,557,563,569,575,581,587,593,599],{"path":461,"stem":462,"title":463,"date":447,"chapter":464,"chapterSort":465,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch1-ros2-jie-shao","wiki/2023-12-30-ros2-tutorial/ch1-ROS2介绍","ROS2介绍","1",1000000,{"path":467,"stem":468,"title":469,"date":447,"chapter":470,"chapterSort":471,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch10-stage-ros2-fang-zhen-ping-tai","wiki/2023-12-30-ros2-tutorial/ch10-Stage_Ros2仿真平台","Stage_Ros2仿真平台","10",10000000,{"path":473,"stem":474,"title":475,"date":447,"chapter":476,"chapterSort":477,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch11-1-gazeboclassic","wiki/2023-12-30-ros2-tutorial/ch11-1-GazeboClassic","Gezebo Classic","11.1",11010000,{"path":479,"stem":480,"title":481,"date":447,"chapter":482,"chapterSort":483,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch11-2-ignitiongazebo","wiki/2023-12-30-ros2-tutorial/ch11-2-IgnitionGazebo","Ignition Gazebo（Gazebo Fortress）","11.2",11020000,{"path":485,"stem":486,"title":487,"date":447,"chapter":488,"chapterSort":489,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch11-3-gazebosim","wiki/2023-12-30-ros2-tutorial/ch11-3-GazeboSim","Gz Sim（Gazebo Harmonic）","11.3",11030000,{"path":491,"stem":492,"title":493,"date":447,"chapter":494,"chapterSort":495,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch11-4-igngz2gzsim","wiki/2023-12-30-ros2-tutorial/ch11-4-Igngz2gzsim","将Ign Gazebo迁移至Gz Sim","11.4",11040000,{"path":497,"stem":498,"title":499,"date":447,"chapter":500,"chapterSort":501,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch11-gezebo-fang-zhen-ping-tai","wiki/2023-12-30-ros2-tutorial/ch11-Gezebo仿真平台","Gezebo仿真平台","11",11000000,{"path":503,"stem":504,"title":505,"date":447,"chapter":506,"chapterSort":507,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch12-ji-qi-ren-dao-hang-navigation2-fang-zhen-pian","wiki/2023-12-30-ros2-tutorial/ch12-机器人导航Navigation2(仿真篇)","机器人导航Navigation2(仿真篇)","12",12000000,{"path":509,"stem":510,"title":511,"date":447,"chapter":512,"chapterSort":513,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch13-ros2serial","wiki/2023-12-30-ros2-tutorial/ch13-ROS2Serial","ROS2 Serial","13",13000000,{"path":515,"stem":516,"title":517,"date":447,"chapter":518,"chapterSort":519,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch14-ji-qi-ren-ying-jian","wiki/2023-12-30-ros2-tutorial/ch14-机器人硬件","机器人硬件","14",14000000,{"path":521,"stem":522,"title":523,"date":447,"chapter":524,"chapterSort":525,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch15-ros2-control","wiki/2023-12-30-ros2-tutorial/ch15-ROS2_Control","ROS2_Control","15",15000000,{"path":527,"stem":528,"title":529,"date":447,"chapter":530,"chapterSort":531,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch16-moveit2-gong-ye-ji-qi-ren-ji-xie-bi","wiki/2023-12-30-ros2-tutorial/ch16-Moveit2工业机器人机械臂","Moveit2工业机器人机械臂","16",16000000,{"path":533,"stem":534,"title":535,"date":447,"chapter":536,"chapterSort":537,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch17-ji-qi-ren-dao-hang-navigation2-shi-ti-pian","wiki/2023-12-30-ros2-tutorial/ch17-机器人导航Navigation2(实体篇)","机器人导航Navigation2(实体篇)","17",17000000,{"path":539,"stem":540,"title":541,"date":447,"chapter":542,"chapterSort":543,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch18-microros","wiki/2023-12-30-ros2-tutorial/ch18-MicroROS","MicroROS","18",18000000,{"path":545,"stem":546,"title":547,"date":447,"chapter":548,"chapterSort":549,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch19-webots-fang-zhen-ping-tai","wiki/2023-12-30-ros2-tutorial/ch19-Webots仿真平台","Webots仿真平台","19",19000000,{"path":551,"stem":552,"title":553,"date":447,"chapter":554,"chapterSort":555,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch2-ru-men-cao-zuo","wiki/2023-12-30-ros2-tutorial/ch2-入门操作","入门操作","2",2000000,{"path":455,"stem":457,"title":5,"date":447,"chapter":445,"chapterSort":446,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},{"path":558,"stem":559,"title":560,"date":447,"chapter":561,"chapterSort":562,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch3-gong-zuo-kong-jian-yu-gong-neng-bao","wiki/2023-12-30-ros2-tutorial/ch3-工作空间与功能包","工作空间与功能包","3",3000000,{"path":564,"stem":565,"title":566,"date":447,"chapter":567,"chapterSort":568,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch4-si-da-tong-xin","wiki/2023-12-30-ros2-tutorial/ch4-四大通信","四大通信","4",4000000,{"path":570,"stem":571,"title":572,"date":447,"chapter":573,"chapterSort":574,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch5-ros2-qi-ta-tong-xin-ji-zhi","wiki/2023-12-30-ros2-tutorial/ch5-ROS2其他通信机制","ROS2其他通信机制","5",5000000,{"path":576,"stem":577,"title":578,"date":447,"chapter":579,"chapterSort":580,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch6-launch","wiki/2023-12-30-ros2-tutorial/ch6-Launch","Launch","6",6000000,{"path":582,"stem":583,"title":584,"date":447,"chapter":585,"chapterSort":586,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch7-hui-su-rosbag2","wiki/2023-12-30-ros2-tutorial/ch7-回溯rosbag2","回溯rosbag2","7",7000000,{"path":588,"stem":589,"title":590,"date":447,"chapter":591,"chapterSort":592,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch8-zuo-biao-bian-huan-tf","wiki/2023-12-30-ros2-tutorial/ch8-坐标变换TF","坐标变换TF","8",8000000,{"path":594,"stem":595,"title":596,"date":447,"chapter":597,"chapterSort":598,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":452},"/wiki/2023-12-30-ros2-tutorial/ch9-ke-shi-hua-ping-tai-rviz2-yu-urdf-jian-mo-yu-yan","wiki/2023-12-30-ros2-tutorial/ch9-可视化平台RVIZ2与URDF建模语言","可视化平台RVIZ2与URDF建模语言","9",9000000,{"path":449,"stem":600,"title":601,"date":447,"chapter":453,"chapterSort":602,"docKey":448,"docRoot":449,"docTitle":450,"isWikiDoc":99,"isWikiIndex":99},"wiki/2023-12-30-ros2-tutorial/index","ROS2机器人操作系统教程",0,1778560330442]