[{"data":1,"prerenderedAt":390},["ShallowReactive",2],{"wiki-page-\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he":3,"wiki-doc-items-\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he":79,"language-switcher-data-\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he":374,"wiki-i18n-paths-\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he":389},{"id":4,"title":5,"body":6,"canonicalPath":60,"chapterDepth":58,"chapterOrder":61,"date":62,"description":15,"docI18nKey":63,"docKey":64,"docRoot":65,"docTitle":66,"extension":67,"i18nKey":68,"isBlogPost":69,"isWikiDoc":70,"isWikiIndex":69,"layout":71,"legacyPath":72,"locale":73,"localeSlug":74,"meta":75,"navigation":70,"path":60,"seo":76,"sourcePath":72,"sourceStem":68,"stem":68,"wikiDepth":77,"__hash__":78},"content\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-轮式里程计标定与融合.md","轮式里程计标定与融合",{"type":7,"value":8,"toc":56},"minimark",[9,16,19,28,31,36,42,48,53],[10,11,12],"p",{},[13,14,15],"strong",{},"场景",[10,17,18],{},"里程计在ROS中扮演着重要的角色，能够为机器人的定位、路径规划和运动控制等任务提供重要的数据支持。然而在实际应用中，里程计并不能准确地反映机器人的位置和运动状态，出现的问题包括：",[20,21,22,25],"blockquote",{},[10,23,24],{},"1.里程计中的线速度、角速度和机器人实际的线速度、角速度明显有差异，而且里程计中提供的机器人位姿与真实位姿不一致；",[10,26,27],{},"2.当机器人车轮打滑或受到外力影响而出现姿态改变时，这种姿态的变化无法通过轮式里程计正确反馈。",[10,29,30],{},"在这些场景中，我们可以通过进行里程计标定和融合来优化解决这些问题。",[10,32,33],{},[13,34,35],{},"概念",[10,37,38,41],{},[13,39,40],{},"里程计标定："," 里程计标定是指通过对机器人里程计进行精确的校准和调整，以减小或消除里程计测量中的误差和不准确性。例如，可以通过测量调整轮胎直径和轴距等参数来校准机器人的线速度和角速度，从而使里程计测量结果更加准确。里程计标定的主要目标是确保里程计测量结果与实际机器人的运动轨迹一致，从而提高机器人的定位精度和路径规划准确性。",[10,43,44,47],{},[13,45,46],{},"里程计融合："," 里程计融合是利用多个来源的里程计数据进行融合，以获得更准确可靠的机器人定位和运动信息。例如，将车轮编码器和惯性测量单元（IMU）的数据融合，可以提高定位的准确性。通过结合不同的传感器和算法，能够提高机器人在导航和控制任务中的准确性和鲁棒性，从而实现更高级别的自主移动能力。",[10,49,50],{},[13,51,52],{},"作用",[10,54,55],{},"里程计标定和融合是机器人领域中的两个重要技术，通过利用这些技术，机器人可以更加准确地了解自身位置和运动状态，提高机器人的定位和导航精度，为机器人的自主导航、路径规划等任务提供基础。",{"title":57,"searchDepth":58,"depth":58,"links":59},"",2,[],"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","1400-0800-0100","2023-12-30","wiki\u002F2023-12-30-ros2-tutorial","zh-cn:2023-12-30-ros2-tutorial","\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial","Ros2 Tutorial","md","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-轮式里程计标定与融合",false,true,null,"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","zh-CN","zh-cn",{},{"title":5,"description":15},1,"A_FYOC9Kl0c46nNtUMb8wb1fEvOLQNkIOa4gYcOE4VM",[80,86,91,96,101,106,111,116,121,126,131,136,141,146,151,156,161,166,171,176,181,186,191,196,201,206,210,215,219,224,229,234,239,244,249,254,259,264,269,274,279,284,289,294,299,304,309,315,320,321,326,331,336,341,346,351,356,361,366,371],{"path":81,"stem":82,"title":83,"date":62,"chapterOrder":84,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0100-ros2-jie-shao","wiki\u002F2023-12-30-ros2-tutorial\u002F0100-ROS2介绍","ROS2介绍","0100",0,{"path":87,"stem":88,"title":89,"date":62,"chapterOrder":90,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0200-ru-men-cao-zuo","wiki\u002F2023-12-30-ros2-tutorial\u002F0200-入门操作","入门操作","0200",{"path":92,"stem":93,"title":94,"date":62,"chapterOrder":95,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0300-gong-zuo-kong-jian-yu-gong-neng-bao","wiki\u002F2023-12-30-ros2-tutorial\u002F0300-工作空间与功能包","工作空间与功能包","0300",{"path":97,"stem":98,"title":99,"date":62,"chapterOrder":100,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0400-si-da-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F0400-四大通信","四大通信","0400",{"path":102,"stem":103,"title":104,"date":62,"chapterOrder":105,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0500-ros2-qi-ta-tong-xin-ji-zhi","wiki\u002F2023-12-30-ros2-tutorial\u002F0500-ROS2其他通信机制","ROS2其他通信机制","0500",{"path":107,"stem":108,"title":109,"date":62,"chapterOrder":110,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0600-launch","wiki\u002F2023-12-30-ros2-tutorial\u002F0600-Launch","Launch","0600",{"path":112,"stem":113,"title":114,"date":62,"chapterOrder":115,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0700-hui-su-rosbag2","wiki\u002F2023-12-30-ros2-tutorial\u002F0700-回溯rosbag2","回溯rosbag2","0700",{"path":117,"stem":118,"title":119,"date":62,"chapterOrder":120,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0800-zuo-biao-bian-huan-tf","wiki\u002F2023-12-30-ros2-tutorial\u002F0800-坐标变换TF","坐标变换TF","0800",{"path":122,"stem":123,"title":124,"date":62,"chapterOrder":125,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0900-ke-shi-hua-ping-tai-rviz2-yu-urdf-jian-mo-yu-yan","wiki\u002F2023-12-30-ros2-tutorial\u002F0900-可视化平台RVIZ2与URDF建模语言","可视化平台RVIZ2与URDF建模语言","0900",{"path":127,"stem":128,"title":129,"date":62,"chapterOrder":130,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1000-stage-ros2-fang-zhen-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1000-Stage_Ros2仿真平台","Stage_Ros2仿真平台","1000",{"path":132,"stem":133,"title":134,"date":62,"chapterOrder":135,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-gazeboclassic","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-GazeboClassic","Gezebo Classic","1100-0100",{"path":137,"stem":138,"title":139,"date":62,"chapterOrder":140,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-ignitiongazebo","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-IgnitionGazebo","Ignition Gazebo（Gazebo Fortress）","1100-0200",{"path":142,"stem":143,"title":144,"date":62,"chapterOrder":145,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-gazebosim","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-GazeboSim","Gz Sim（Gazebo Harmonic）","1100-0300",{"path":147,"stem":148,"title":149,"date":62,"chapterOrder":150,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-igngz2gzsim","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-Igngz2gzsim","将Ign Gazebo迁移至Gz Sim","1100-0400",{"path":152,"stem":153,"title":154,"date":62,"chapterOrder":155,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-Gezebo仿真平台","Gezebo仿真平台","1100",{"path":157,"stem":158,"title":159,"date":62,"chapterOrder":160,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-humble-ban-ben","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-Humble版本","Humble导航仿真","1200-0100",{"path":162,"stem":163,"title":164,"date":62,"chapterOrder":165,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-jazzy-ban-ben","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-Jazzy版本","Jazzy导航仿真","1200-0200",{"path":167,"stem":168,"title":169,"date":62,"chapterOrder":170,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-humble2jazzy","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-Humble2Jazzy","Humble与Jazzy导航的差异","1200-0300",{"path":172,"stem":173,"title":174,"date":62,"chapterOrder":175,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-ji-qi-ren-dao-hang-navigation2-fang-zhen-pian","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-机器人导航Navigation2(仿真篇)","机器人导航Navigation2(仿真篇)","1200",{"path":177,"stem":178,"title":179,"date":62,"chapterOrder":180,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-boost-aiso","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-Boost.Aiso","Boost.Asio库","1300-0100-0100",{"path":182,"stem":183,"title":184,"date":62,"chapterOrder":185,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2_serial_driver","ROS2 Serial Driver库","1300-0100-0200",{"path":187,"stem":188,"title":189,"date":62,"chapterOrder":190,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-chuan-kou-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-串口通信","UART串口通信","1300-0100",{"path":192,"stem":193,"title":194,"date":62,"chapterOrder":195,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","SocketCAN","1300-0200-0100",{"path":197,"stem":198,"title":199,"date":62,"chapterOrder":200,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2-socketcan","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2_socketcan","ROS2_SocketCAN","1300-0200-0200",{"path":202,"stem":203,"title":204,"date":62,"chapterOrder":205,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-can-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-CAN通信","CAN通信","1300-0200",{"path":207,"stem":208,"title":179,"date":62,"chapterOrder":209,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-boost-aiso","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-Boost.Aiso","1300-0300-0100",{"path":211,"stem":212,"title":213,"date":62,"chapterOrder":214,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-tcp-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-TCP通信","TCP通信","1300-0300",{"path":216,"stem":217,"title":179,"date":62,"chapterOrder":218,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-boost-aiso","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-Boost.Aiso","1300-0400-0100",{"path":220,"stem":221,"title":222,"date":62,"chapterOrder":223,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-udp-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-UDP通信","UDP通信","1300-0400",{"path":225,"stem":226,"title":227,"date":62,"chapterOrder":228,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-linux-ying-jian-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-Linux硬件通信","Linux硬件通信","1300",{"path":230,"stem":231,"title":232,"date":62,"chapterOrder":233,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-ji-qi-ren-zu-cheng","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-机器人组成","机器人组成","1400-0100",{"path":235,"stem":236,"title":237,"date":62,"chapterOrder":238,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-yuan-cheng-kai-fa-ssh","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-远程开发SSH","远程开发SSH","1400-0200-0100",{"path":240,"stem":241,"title":242,"date":62,"chapterOrder":243,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0200-yuan-cheng-fang-wen-zhuo-mian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0200-远程访问桌面","远程访问桌面","1400-0200-0200",{"path":245,"stem":246,"title":247,"date":62,"chapterOrder":248,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-gong-kong-ji-zhi-yuan-cheng-kai-fa-huan-jing","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-工控机之远程开发环境","工控机之远程开发环境","1400-0200",{"path":250,"stem":251,"title":252,"date":62,"chapterOrder":253,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0300-gong-kong-ji-zhi-wai-jie-usb-she-bei","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0300-工控机之外接USB设备","工控机之外接USB设备","1400-0300",{"path":255,"stem":256,"title":257,"date":62,"chapterOrder":258,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-fen-bu-shi-da-jian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-分布式搭建","分布式搭建","1400-0400",{"path":260,"stem":261,"title":262,"date":62,"chapterOrder":263,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-you-hua-ri-zhi","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-优化日志","优化日志","1400-0500",{"path":265,"stem":266,"title":267,"date":62,"chapterOrder":268,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-里程计Odom","里程计Odom","1400-0600-0100",{"path":270,"stem":271,"title":272,"date":62,"chapterOrder":273,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-guan-xing-ji-imu","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-惯性计IMU","惯性计IMU","1400-0600-0200",{"path":275,"stem":276,"title":277,"date":62,"chapterOrder":278,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-ji-guang-lei-da-lidar","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-激光雷达LiDAR","激光雷达LiDAR","1400-0600-0300",{"path":280,"stem":281,"title":282,"date":62,"chapterOrder":283,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-xiang-ji-camera","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-相机Camera","相机Camera","1400-0600-0400",{"path":285,"stem":286,"title":287,"date":62,"chapterOrder":288,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-quan-qiu-ding-wei-gnss","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-全球定位GNSS","全球定位GNSS","1400-0600-0500",{"path":290,"stem":291,"title":292,"date":62,"chapterOrder":293,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-shou-bing-joy","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-手柄joy","手柄JOY","1400-0600-0600",{"path":295,"stem":296,"title":297,"date":62,"chapterOrder":298,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-jian-pan-kong-zhi-jie-dian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-键盘控制节点","键盘控制节点","1400-0600-0700",{"path":300,"stem":301,"title":302,"date":62,"chapterOrder":303,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-ying-jian-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-硬件平台","硬件平台","1400-0600",{"path":305,"stem":306,"title":307,"date":62,"chapterOrder":308,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-坐标系与话题关系","坐标系与话题关系","1400-0700",{"path":310,"stem":311,"title":312,"date":62,"chapterOrder":313,"chapterDepth":314,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0100-lun-shi-li-cheng-ji-biao-ding","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0100-轮式里程计标定","轮式里程计标定","1400-0800-0100-0100",3,{"path":316,"stem":317,"title":318,"date":62,"chapterOrder":319,"chapterDepth":314,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0200-lun-shi-li-cheng-ji-yu-imu-rong-he","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0200-轮式里程计与IMU融合","轮式里程计与IMU融合","1400-0800-0100-0200",{"path":60,"stem":68,"title":5,"date":62,"chapterOrder":61,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},{"path":322,"stem":323,"title":324,"date":62,"chapterOrder":325,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0200-ji-guang-lei-da-gong-ju","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0200-激光雷达工具","激光雷达工具","1400-0800-0200",{"path":327,"stem":328,"title":329,"date":62,"chapterOrder":330,"chapterDepth":58,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0300-xiang-ji-shi-yong-jin-jie","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0300-相机使用进阶","相机使用进阶","1400-0800-0300",{"path":332,"stem":333,"title":334,"date":62,"chapterOrder":335,"chapterDepth":77,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-ying-jian-ping-tai-jin-jie","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-硬件平台进阶","硬件平台进阶","1400-0800",{"path":337,"stem":338,"title":339,"date":62,"chapterOrder":340,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-ji-qi-ren-ying-jian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-机器人硬件","机器人硬件","1400",{"path":342,"stem":343,"title":344,"date":62,"chapterOrder":345,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1500-ros2-control","wiki\u002F2023-12-30-ros2-tutorial\u002F1500-ROS2_Control","ROS2_Control","1500",{"path":347,"stem":348,"title":349,"date":62,"chapterOrder":350,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1600-moveit2-gong-ye-ji-qi-ren-ji-xie-bi","wiki\u002F2023-12-30-ros2-tutorial\u002F1600-Moveit2工业机器人机械臂","Moveit2工业机器人机械臂","1600",{"path":352,"stem":353,"title":354,"date":62,"chapterOrder":355,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1700-ji-qi-ren-dao-hang-navigation2-shi-ti-pian","wiki\u002F2023-12-30-ros2-tutorial\u002F1700-机器人导航Navigation2(实体篇)","机器人导航Navigation2(实体篇)","1700",{"path":357,"stem":358,"title":359,"date":62,"chapterOrder":360,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1800-microros","wiki\u002F2023-12-30-ros2-tutorial\u002F1800-MicroROS","MicroROS","1800",{"path":362,"stem":363,"title":364,"date":62,"chapterOrder":365,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1900-webots-fang-zhen-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1900-Webots仿真平台","Webots仿真平台","1900",{"path":367,"stem":368,"title":369,"date":62,"chapterOrder":370,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":69},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F2000-opencv","wiki\u002F2023-12-30-ros2-tutorial\u002F2000-OpenCV","OpenCV","2000",{"path":65,"stem":372,"title":373,"date":62,"chapterOrder":71,"chapterDepth":85,"docKey":64,"docRoot":65,"docTitle":66,"isWikiDoc":70,"isWikiIndex":70},"wiki\u002F2023-12-30-ros2-tutorial\u002Findex","ROS2机器人操作系统教程",{"variants":375},[376,379,382,385,388],{"path":377,"localeSlug":378,"i18nKey":68},"\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","en-us",{"path":380,"localeSlug":381,"i18nKey":68},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","zh-hant",{"path":383,"localeSlug":384,"i18nKey":68},"\u002Fzh-hk\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","zh-hk",{"path":386,"localeSlug":387,"i18nKey":68},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","zh-tw",{"path":60,"localeSlug":74,"i18nKey":68},[377,72,380,72,383,72,386,72,60,72],1784646776295]