[{"data":1,"prerenderedAt":507},["ShallowReactive",2],{"wiki-page-\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai":3,"wiki-doc-items-\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai":198,"language-switcher-data-\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai":491,"wiki-i18n-paths-\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai":506},{"id":4,"title":5,"body":6,"canonicalPath":177,"chapterDepth":178,"chapterOrder":179,"date":180,"description":171,"docI18nKey":181,"docKey":182,"docRoot":183,"docTitle":184,"extension":185,"i18nKey":186,"isBlogPost":187,"isWikiDoc":188,"isWikiIndex":187,"layout":189,"legacyPath":189,"locale":190,"localeSlug":191,"meta":192,"navigation":188,"path":177,"seo":193,"sourcePath":194,"sourceStem":186,"stem":195,"wikiDepth":196,"__hash__":197},"content\u002F_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-Gezebo仿真平台.md","Gezebo仿真平臺",{"type":7,"value":8,"toc":170},"minimark",[9,13,17,20,23,26,32,35,54,57,62,68,73,76,81,84,104,107,112,115,123,126,129,132,135,147,150,153,167],[10,11,12],"h3",{"id":12},"簡述",[14,15,16],"p",{},"Gazebo目前主要分爲兩個版本，",[14,18,19],{},"一個是舊版Gazebo Classic，一個是新版Ignition Gazebo（ Gazebo Fortress）。",[14,21,22],{},"本文中稱呼的Gazebo均代指Gazebo Classic，而Ignition Gazebo會加以區別。",[14,24,25],{},"然後現在ROS2Humble自帶的是Ignition Gazebo（ Gazebo Fortress），但是ROS2 Jazzy自帶的是\tGazebo Harmonic，建議學習\tGazebo Harmonic ！",[14,27,28],{},[29,30,31],"strong",{},"場景",[14,33,34],{},"在ROS機器人開發中，實體機器人雖然具有直接性和真實性的優勢，但也存在一些不足，比如：",[36,37,38],"blockquote",{},[39,40,41,45,48,51],"ol",{},[42,43,44],"li",{},"高昂的成本：研發一款自主移動機器人需要購買昂貴的硬件組件，如傳感器、電機、控制器等，且這些硬件在研發初期可能需要頻繁更換或升級，導致成本急劇上升。",[42,46,47],{},"資源限制：由於資金和資源有限，可能無法同時擁有多臺實體機器人進行測試。這會導致測試周期延長，研發進度受阻。",[42,49,50],{},"環境的不確定性和複雜性：在真實環境中測試機器人時，可能會遇到各種不可預測的情況，如光線變化、地面不平整、電磁干擾等，這些因素都可能影響機器人的性能。",[42,52,53],{},"安全風險：在測試過程中，如果機器人的控制算法或硬件出現故障，可能會導致機器人失控，對人員或環境造成損害。",[14,55,56],{},"在ROS機器人開發的領域裏，仿真技術被廣泛應用以彌補實體機器人測試中的不足。",[14,58,59],{},[29,60,61],{},"概念",[14,63,64,67],{},[29,65,66],{},"機器人仿真"," 是一種利用計算機模型和仿真技術來模擬機器人在虛擬環境中的行爲和性能的過程。它通過創建虛擬的機器人和環境模型，模擬機器人的感知、控制和運動能力，以及與環境和其他對象的交互。",[14,69,70],{},[29,71,72],{},"作用",[14,74,75],{},"通過仿真測試，可以降低機器人研發成本和風險，提高機器人系統的性能和可靠性，併爲實際機器人部署提供參考和指導。",[14,77,78],{},[29,79,80],{},"仿真優勢:",[14,82,83],{},"仿真在機器人系統研發過程中佔有舉足輕重的地位，在研發與測試中較之於實體機器人實現，仿真有如下幾點的顯著優勢:",[39,85,86,92,98],{},[42,87,88,91],{},[29,89,90],{},"低成本:"," 當前機器人成本居高不下，動輒幾十萬，仿真可以大大降低成本，減小風險",[42,93,94,97],{},[29,95,96],{},"高效:"," 搭建的環境更爲多樣且靈活，可以提高測試效率以及測試覆蓋率",[42,99,100,103],{},[29,101,102],{},"高安全性:"," 仿真環境下，無需考慮耗損問題",[14,105,106],{},"仿真技術爲開發者構建了一個既高效又安全，且成本低廉的全方位測試和驗證平臺。",[14,108,109],{},[29,110,111],{},"仿真缺陷:",[14,113,114],{},"機器人在仿真環境與實際環境下的表現差異較大，換言之，仿真並不能完全做到模擬真實的物理世界，存在一些\"失真\"的情況，原因:",[39,116,117,120],{},[42,118,119],{},"仿真器所使用的物理引擎目前還不能夠完全精確模擬真實世界的物理情況",[42,121,122],{},"仿真器構建的是關節驅動器（電機&齒輪箱）、傳感器與信號通信的絕對理想情況，目前不支持模擬實際硬件缺陷或者一些臨界狀態等情形",[14,124,125],{},"總之，仿真技術雖然重要，但並不能完全替代實體測試。實體測試可以驗證仿真結果的準確性，並發現仿真中可能忽略的問題。",[10,127,128],{"id":128},"本章小結",[14,130,131],{},"本章主要介紹了2D仿真工具stage_ros2以及3D仿真工具ignition gazebo在ROS2中的應用。",[14,133,134],{},"相關知識點如下：",[136,137,138,141,144],"ul",{},[42,139,140],{},"仿真的理論知識；",[42,142,143],{},"stage_ros2在ROS2中的使用；",[42,145,146],{},"ignition gazebo在ROS2中的使用。",[14,148,149],{},"通過上述內容我們介紹了仿真在ROS2中的應用場景、概念，以及較之於實體機器人，仿真的優勢和不足。還學習瞭如何基於stage_ros2以及ignition gazebo分別搭建仿真環境並模擬機器人，爲後續的學習奠定了基礎。",[14,151,152],{},"另外，除了stage_ros2和ignition gazebo之外，還有其他一些可用於ROS2仿真的軟件。以下是一些常見的選擇：",[136,154,155,158,161,164],{},[42,156,157],{},"Webots: Webots是一個強大的開源多機器人仿真軟件平臺，它支持各種機器人硬件和傳感器模擬，並且可以與ROS 2進行集成。",[42,159,160],{},"Gazebo Classic: Gazebo Classic是ROS 1中常用的仿真器，也可以通過ROS 2進行連接和使用。",[42,162,163],{},"MORSE: MORSE是一個基於Python的開源仿真器，可以用於ROS 2仿真和機器人開發，支持多種傳感器和行爲模型。",[42,165,166],{},"V-REP: V-REP是一個強大的多機器人仿真平臺，它支持ROS 2與其進行通信，可以實現各種機器人模型和場景的仿真。",[14,168,169],{},"這些都是一些常見的ROS 2仿真軟件，你可以根據具體的需求選擇合適的軟件來進行仿真和開發。請注意，某些仿真器可能需要進行適配和配置以與ROS 2兼容。",{"title":171,"searchDepth":172,"depth":172,"links":173},"",2,[174,176],{"id":12,"depth":175,"text":12},3,{"id":128,"depth":175,"text":128},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai",0,"1100","2023-12-30","wiki\u002F2023-12-30-ros2-tutorial","zh-hant:2023-12-30-ros2-tutorial","\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial","Ros2 Tutorial","md","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-Gezebo仿真平台",false,true,null,"zh-Hant","zh-hant",{},{"title":5,"description":171},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-Gezebo仿真平台",1,"zHDJlv32UrftYSGJcvs6jxG0L1WKUj5a5-_1QTbMh60",[199,204,209,214,219,224,229,234,239,244,249,254,259,264,269,270,275,280,285,290,295,300,305,310,315,320,324,329,333,338,343,348,353,358,363,368,373,378,383,388,393,398,403,408,413,418,423,428,433,438,443,448,453,458,463,468,473,478,483,488],{"path":200,"stem":201,"title":202,"date":180,"chapterOrder":203,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0100-ros2-jie-shao","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0100-ROS2介绍","ROS2介紹","0100",{"path":205,"stem":206,"title":207,"date":180,"chapterOrder":208,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0200-ru-men-cao-zuo","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0200-入门操作","入門操作","0200",{"path":210,"stem":211,"title":212,"date":180,"chapterOrder":213,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0300-gong-zuo-kong-jian-yu-gong-neng-bao","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0300-工作空间与功能包","工作空間與功能包","0300",{"path":215,"stem":216,"title":217,"date":180,"chapterOrder":218,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0400-si-da-tong-xin","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0400-四大通信","四大通信","0400",{"path":220,"stem":221,"title":222,"date":180,"chapterOrder":223,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0500-ros2-qi-ta-tong-xin-ji-zhi","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0500-ROS2其他通信机制","ROS2其他通信機制","0500",{"path":225,"stem":226,"title":227,"date":180,"chapterOrder":228,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0600-launch","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0600-Launch","Launch","0600",{"path":230,"stem":231,"title":232,"date":180,"chapterOrder":233,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0700-hui-su-rosbag2","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0700-回溯rosbag2","回溯rosbag2","0700",{"path":235,"stem":236,"title":237,"date":180,"chapterOrder":238,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0800-zuo-biao-bian-huan-tf","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0800-坐标变换TF","座標變換TF","0800",{"path":240,"stem":241,"title":242,"date":180,"chapterOrder":243,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0900-ke-shi-hua-ping-tai-rviz2-yu-urdf-jian-mo-yu-yan","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0900-可视化平台RVIZ2与URDF建模语言","可視化平臺RVIZ2與URDF建模語言","0900",{"path":245,"stem":246,"title":247,"date":180,"chapterOrder":248,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1000-stage-ros2-fang-zhen-ping-tai","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1000-Stage_Ros2仿真平台","Stage_Ros2仿真平臺","1000",{"path":250,"stem":251,"title":252,"date":180,"chapterOrder":253,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-gazeboclassic","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-GazeboClassic","Gezebo Classic","1100-0100",{"path":255,"stem":256,"title":257,"date":180,"chapterOrder":258,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-ignitiongazebo","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-IgnitionGazebo","Ignition Gazebo（Gazebo Fortress）","1100-0200",{"path":260,"stem":261,"title":262,"date":180,"chapterOrder":263,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-gazebosim","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-GazeboSim","Gz Sim（Gazebo Harmonic）","1100-0300",{"path":265,"stem":266,"title":267,"date":180,"chapterOrder":268,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-igngz2gzsim","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-Igngz2gzsim","將Ign Gazebo遷移至Gz Sim","1100-0400",{"path":177,"stem":195,"title":5,"date":180,"chapterOrder":179,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},{"path":271,"stem":272,"title":273,"date":180,"chapterOrder":274,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-humble-ban-ben","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-Humble版本","Humble導航仿真","1200-0100",{"path":276,"stem":277,"title":278,"date":180,"chapterOrder":279,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-jazzy-ban-ben","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-Jazzy版本","Jazzy導航仿真","1200-0200",{"path":281,"stem":282,"title":283,"date":180,"chapterOrder":284,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-humble2jazzy","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-Humble2Jazzy","Humble與Jazzy導航的差異","1200-0300",{"path":286,"stem":287,"title":288,"date":180,"chapterOrder":289,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-ji-qi-ren-dao-hang-navigation2-fang-zhen-pian","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-机器人导航Navigation2(仿真篇)","機器人導航Navigation2(仿真篇)","1200",{"path":291,"stem":292,"title":293,"date":180,"chapterOrder":294,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-boost-aiso","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-Boost.Aiso","Boost.Asio庫","1300-0100-0100",{"path":296,"stem":297,"title":298,"date":180,"chapterOrder":299,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2_serial_driver","ROS2 Serial Driver庫","1300-0100-0200",{"path":301,"stem":302,"title":303,"date":180,"chapterOrder":304,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-chuan-kou-tong-xin","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-串口通信","UART串口通信","1300-0100",{"path":306,"stem":307,"title":308,"date":180,"chapterOrder":309,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","SocketCAN","1300-0200-0100",{"path":311,"stem":312,"title":313,"date":180,"chapterOrder":314,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2-socketcan","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2_socketcan","ROS2_SocketCAN","1300-0200-0200",{"path":316,"stem":317,"title":318,"date":180,"chapterOrder":319,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-can-tong-xin","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-CAN通信","CAN通信","1300-0200",{"path":321,"stem":322,"title":293,"date":180,"chapterOrder":323,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-boost-aiso","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-Boost.Aiso","1300-0300-0100",{"path":325,"stem":326,"title":327,"date":180,"chapterOrder":328,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-tcp-tong-xin","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-TCP通信","TCP通信","1300-0300",{"path":330,"stem":331,"title":293,"date":180,"chapterOrder":332,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-boost-aiso","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-Boost.Aiso","1300-0400-0100",{"path":334,"stem":335,"title":336,"date":180,"chapterOrder":337,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-udp-tong-xin","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-UDP通信","UDP通信","1300-0400",{"path":339,"stem":340,"title":341,"date":180,"chapterOrder":342,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-linux-ying-jian-tong-xin","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-Linux硬件通信","Linux硬件通信","1300",{"path":344,"stem":345,"title":346,"date":180,"chapterOrder":347,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-ji-qi-ren-zu-cheng","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-机器人组成","機器人組成","1400-0100",{"path":349,"stem":350,"title":351,"date":180,"chapterOrder":352,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-yuan-cheng-kai-fa-ssh","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-远程开发SSH","遠程開發SSH","1400-0200-0100",{"path":354,"stem":355,"title":356,"date":180,"chapterOrder":357,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0200-yuan-cheng-fang-wen-zhuo-mian","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0200-远程访问桌面","遠程訪問桌面","1400-0200-0200",{"path":359,"stem":360,"title":361,"date":180,"chapterOrder":362,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-gong-kong-ji-zhi-yuan-cheng-kai-fa-huan-jing","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-工控机之远程开发环境","工控機之遠程開發環境","1400-0200",{"path":364,"stem":365,"title":366,"date":180,"chapterOrder":367,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0300-gong-kong-ji-zhi-wai-jie-usb-she-bei","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0300-工控机之外接USB设备","工控機之外接USB設備","1400-0300",{"path":369,"stem":370,"title":371,"date":180,"chapterOrder":372,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-fen-bu-shi-da-jian","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-分布式搭建","分佈式搭建","1400-0400",{"path":374,"stem":375,"title":376,"date":180,"chapterOrder":377,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-you-hua-ri-zhi","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-优化日志","優化日誌","1400-0500",{"path":379,"stem":380,"title":381,"date":180,"chapterOrder":382,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-里程计Odom","里程計Odom","1400-0600-0100",{"path":384,"stem":385,"title":386,"date":180,"chapterOrder":387,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-guan-xing-ji-imu","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-惯性计IMU","慣性計IMU","1400-0600-0200",{"path":389,"stem":390,"title":391,"date":180,"chapterOrder":392,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-ji-guang-lei-da-lidar","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-激光雷达LiDAR","激光雷達LiDAR","1400-0600-0300",{"path":394,"stem":395,"title":396,"date":180,"chapterOrder":397,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-xiang-ji-camera","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-相机Camera","相機Camera","1400-0600-0400",{"path":399,"stem":400,"title":401,"date":180,"chapterOrder":402,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-quan-qiu-ding-wei-gnss","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-全球定位GNSS","全球定位GNSS","1400-0600-0500",{"path":404,"stem":405,"title":406,"date":180,"chapterOrder":407,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-shou-bing-joy","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-手柄joy","手柄JOY","1400-0600-0600",{"path":409,"stem":410,"title":411,"date":180,"chapterOrder":412,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-jian-pan-kong-zhi-jie-dian","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-键盘控制节点","鍵盤控制節點","1400-0600-0700",{"path":414,"stem":415,"title":416,"date":180,"chapterOrder":417,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-ying-jian-ping-tai","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-硬件平台","硬件平臺","1400-0600",{"path":419,"stem":420,"title":421,"date":180,"chapterOrder":422,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-坐标系与话题关系","座標系與話題關係","1400-0700",{"path":424,"stem":425,"title":426,"date":180,"chapterOrder":427,"chapterDepth":175,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0100-lun-shi-li-cheng-ji-biao-ding","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0100-轮式里程计标定","輪式里程計標定","1400-0800-0100-0100",{"path":429,"stem":430,"title":431,"date":180,"chapterOrder":432,"chapterDepth":175,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0200-lun-shi-li-cheng-ji-yu-imu-rong-he","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0200-轮式里程计与IMU融合","輪式里程計與IMU融合","1400-0800-0100-0200",{"path":434,"stem":435,"title":436,"date":180,"chapterOrder":437,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-轮式里程计标定与融合","輪式里程計標定與融合","1400-0800-0100",{"path":439,"stem":440,"title":441,"date":180,"chapterOrder":442,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0200-ji-guang-lei-da-gong-ju","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0200-激光雷达工具","激光雷達工具","1400-0800-0200",{"path":444,"stem":445,"title":446,"date":180,"chapterOrder":447,"chapterDepth":172,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0300-xiang-ji-shi-yong-jin-jie","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0300-相机使用进阶","相機使用進階","1400-0800-0300",{"path":449,"stem":450,"title":451,"date":180,"chapterOrder":452,"chapterDepth":196,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-ying-jian-ping-tai-jin-jie","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-硬件平台进阶","硬件平臺進階","1400-0800",{"path":454,"stem":455,"title":456,"date":180,"chapterOrder":457,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-ji-qi-ren-ying-jian","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-机器人硬件","機器人硬件","1400",{"path":459,"stem":460,"title":461,"date":180,"chapterOrder":462,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1500-ros2-control","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1500-ROS2_Control","ROS2_Control","1500",{"path":464,"stem":465,"title":466,"date":180,"chapterOrder":467,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1600-moveit2-gong-ye-ji-qi-ren-ji-xie-bi","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1600-Moveit2工业机器人机械臂","Moveit2工業機器人機械臂","1600",{"path":469,"stem":470,"title":471,"date":180,"chapterOrder":472,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1700-ji-qi-ren-dao-hang-navigation2-shi-ti-pian","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1700-机器人导航Navigation2(实体篇)","機器人導航Navigation2(實體篇)","1700",{"path":474,"stem":475,"title":476,"date":180,"chapterOrder":477,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1800-microros","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1800-MicroROS","MicroROS","1800",{"path":479,"stem":480,"title":481,"date":180,"chapterOrder":482,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1900-webots-fang-zhen-ping-tai","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1900-Webots仿真平台","Webots仿真平臺","1900",{"path":484,"stem":485,"title":486,"date":180,"chapterOrder":487,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":187},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F2000-opencv","_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F2000-OpenCV","OpenCV","2000",{"path":183,"stem":489,"title":490,"date":180,"chapterOrder":189,"chapterDepth":178,"docKey":182,"docRoot":183,"docTitle":184,"isWikiDoc":188,"isWikiIndex":188},"_i18n\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002Findex","ROS2機器人操作系統教程",{"variants":492},[493,496,497,500,503],{"path":494,"localeSlug":495,"i18nKey":186},"\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","en-us",{"path":177,"localeSlug":191,"i18nKey":186},{"path":498,"localeSlug":499,"i18nKey":186},"\u002Fzh-hk\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","zh-hk",{"path":501,"localeSlug":502,"i18nKey":186},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","zh-tw",{"path":504,"localeSlug":505,"i18nKey":186},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","zh-cn",[494,194,177,194,498,194,501,194,504,194],1784646796926]