[{"data":1,"prerenderedAt":539},["ShallowReactive",2],{"wiki-page-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin":3,"wiki-doc-items-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin":171,"language-switcher-data-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin":523,"wiki-i18n-paths-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin":538},{"id":4,"title":5,"body":6,"canonicalPath":150,"chapter":151,"chapterSort":152,"date":153,"description":142,"docI18nKey":154,"docKey":155,"docRoot":156,"docTitle":157,"extension":158,"i18nKey":159,"isBlogPost":160,"isWikiDoc":161,"isWikiIndex":160,"layout":162,"legacyPath":162,"locale":163,"localeSlug":164,"meta":165,"navigation":161,"path":150,"seo":166,"sourcePath":167,"sourceStem":159,"stem":168,"wikiDepth":169,"__hash__":170},"content/_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-Linux硬件通信.md","Linux硬件通信",{"type":7,"value":8,"toc":141},"minimark",[9,14,18,21,24,28,31,131,134,138],[10,11,13],"h2",{"id":12},"linux-機器人通信基礎教程介紹","Linux 機器人通信基礎教程介紹",[15,16,17],"p",{},"機器人系統並不是只有算法和控制，底層通信同樣非常重要。",[15,19,20],{},"在實際項目中，上位機經常需要和各種硬件設備進行數據交互，例如和 STM32 通信、讀取傳感器數據、控制電機驅動器、連接激光雷達、和其他計算節點交換數據等。",[15,22,23],{},"這些功能最終都離不開通信。",[25,26,27],"h3",{"id":27},"常見通信方式",[15,29,30],{},"在 Linux 機器人開發中，常見的通信方式主要包括：",[32,33,34,50],"table",{},[35,36,37],"thead",{},[38,39,40,44,47],"tr",{},[41,42,43],"th",{},"通信方式",[41,45,46],{},"常見場景",[41,48,49],{},"典型用途",[51,52,53,65,76,87,98,109,120],"tbody",{},[38,54,55,59,62],{},[56,57,58],"td",{},"串口 UART / USB Serial",[56,60,61],{},"STM32、ESP32、傳感器、調試模塊",[56,63,64],{},"上位機與下位機通信、簡單設備控制",[38,66,67,70,73],{},[56,68,69],{},"CAN / CAN FD",[56,71,72],{},"電機驅動器、底盤控制板、車輛總線",[56,74,75],{},"多節點設備通信、電機控制、底盤控制",[38,77,78,81,84],{},[56,79,80],{},"TCP / UDP",[56,82,83],{},"激光雷達、網絡相機、多程序通信、遠程控制",[56,85,86],{},"網絡設備通信、上位機之間通信",[38,88,89,92,95],{},[56,90,91],{},"Modbus RTU / TCP",[56,93,94],{},"PLC、變頻器、工業傳感器",[56,96,97],{},"工業設備通信",[38,99,100,103,106],{},[56,101,102],{},"EtherCAT",[56,104,105],{},"伺服驅動器、工業機器人、運動控制系統",[56,107,108],{},"高實時性多軸控制",[38,110,111,114,117],{},[56,112,113],{},"I2C",[56,115,116],{},"IMU、溫溼度傳感器、OLED、ADC",[56,118,119],{},"嵌入式 Linux 直連低速傳感器",[38,121,122,125,128],{},[56,123,124],{},"SPI",[56,126,127],{},"高速 ADC、屏幕、部分傳感器模塊",[56,129,130],{},"嵌入式 Linux 直連高速外設",[15,132,133],{},"這些通信方式各有適用場景，並沒有絕對的好壞。實際工程中，通常是根據硬件接口、實時性要求、設備數量和項目複雜度來選擇。",[25,135,137],{"id":136},"講硬件之前要先講linux硬件綁定等相關知識","講硬件之前要先講Linux硬件綁定等相關知識",[15,139,140],{},"待更新",{"title":142,"searchDepth":143,"depth":143,"links":144},"",2,[145],{"id":12,"depth":143,"text":13,"children":146},[147,149],{"id":27,"depth":148,"text":27},3,{"id":136,"depth":148,"text":137},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin","13",13000000,"2023-12-30","wiki/2023-12-30-ros2-tutorial","zh-hant:2023-12-30-ros2-tutorial","/zh-hant/wiki/2023-12-30-ros2-tutorial","Ros2 Tutorial","md","wiki/2023-12-30-ros2-tutorial/ch13-Linux硬件通信",false,true,null,"zh-Hant","zh-hant",{},{"title":5,"description":142},"/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-Linux硬件通信",1,"mQ0zdnwhimAMfGJwDDAfjIZAWn97X1WGZeasaaTfWO8",[172,178,184,190,196,202,208,214,220,226,232,238,244,250,256,262,268,274,279,285,290,296,297,303,309,315,321,327,333,339,345,351,357,363,369,375,381,387,393,399,405,411,417,423,429,435,441,447,453,459,465,471,477,483,489,495,501,507,513,519],{"path":173,"stem":174,"title":175,"date":153,"chapter":176,"chapterSort":177,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch1-ros2-jie-shao","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch1-ROS2介绍","ROS2介紹","1",1000000,{"path":179,"stem":180,"title":181,"date":153,"chapter":182,"chapterSort":183,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch10-stage-ros2-fang-zhen-ping-tai","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch10-Stage_Ros2仿真平台","Stage_Ros2仿真平臺","10",10000000,{"path":185,"stem":186,"title":187,"date":153,"chapter":188,"chapterSort":189,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-1-gazeboclassic","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-1-GazeboClassic","Gezebo Classic","11.1",11010000,{"path":191,"stem":192,"title":193,"date":153,"chapter":194,"chapterSort":195,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-2-ignitiongazebo","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-2-IgnitionGazebo","Ignition Gazebo（Gazebo Fortress）","11.2",11020000,{"path":197,"stem":198,"title":199,"date":153,"chapter":200,"chapterSort":201,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-3-gazebosim","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-3-GazeboSim","Gz Sim（Gazebo Harmonic）","11.3",11030000,{"path":203,"stem":204,"title":205,"date":153,"chapter":206,"chapterSort":207,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-4-igngz2gzsim","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-4-Igngz2gzsim","將Ign Gazebo遷移至Gz Sim","11.4",11040000,{"path":209,"stem":210,"title":211,"date":153,"chapter":212,"chapterSort":213,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-gezebo-fang-zhen-ping-tai","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-Gezebo仿真平台","Gezebo仿真平臺","11",11000000,{"path":215,"stem":216,"title":217,"date":153,"chapter":218,"chapterSort":219,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-1-humble-ban-ben","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-1-Humble版本","Humble導航仿真","12.1",12010000,{"path":221,"stem":222,"title":223,"date":153,"chapter":224,"chapterSort":225,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-2-jazzy-ban-ben","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-2-Jazzy版本","Jazzy導航仿真","12.2",12020000,{"path":227,"stem":228,"title":229,"date":153,"chapter":230,"chapterSort":231,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-3-humble2jazzy","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-3-Humble2Jazzy","Humble與Jazzy導航的差異","12.3",12030000,{"path":233,"stem":234,"title":235,"date":153,"chapter":236,"chapterSort":237,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-ji-qi-ren-dao-hang-navigation2-fang-zhen-pian","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-机器人导航Navigation2(仿真篇)","機器人導航Navigation2(仿真篇)","12",12000000,{"path":239,"stem":240,"title":241,"date":153,"chapter":242,"chapterSort":243,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-1-1-boost-aiso","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-1-1-Boost.Aiso","Boost.Asio庫","13.1.1",13010100,{"path":245,"stem":246,"title":247,"date":153,"chapter":248,"chapterSort":249,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-1-2-ros2-serial-driver","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-1-2-ros2_serial_driver","ROS2 Serial Driver庫","13.1.2",13010200,{"path":251,"stem":252,"title":253,"date":153,"chapter":254,"chapterSort":255,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-1-串口通信","UART串口通信","13.1",13010000,{"path":257,"stem":258,"title":259,"date":153,"chapter":260,"chapterSort":261,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-2-1-socketcan","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-2-1-socketcan","SocketCAN","13.2.1",13020100,{"path":263,"stem":264,"title":265,"date":153,"chapter":266,"chapterSort":267,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-2-2-ros2-socketcan","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-2-2-ros2_socketcan","ROS2_SocketCAN","13.2.2",13020200,{"path":269,"stem":270,"title":271,"date":153,"chapter":272,"chapterSort":273,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-2-can-tong-xin","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-2-CAN通信","CAN通信","13.2",13020000,{"path":275,"stem":276,"title":241,"date":153,"chapter":277,"chapterSort":278,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-3-1-boost-aiso","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-3-1-Boost.Aiso","13.3.1",13030100,{"path":280,"stem":281,"title":282,"date":153,"chapter":283,"chapterSort":284,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-3-tcp-tong-xin","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-3-TCP通信","TCP通信","13.3",13030000,{"path":286,"stem":287,"title":241,"date":153,"chapter":288,"chapterSort":289,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-4-1-boost-aiso","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-4-1-Boost.Aiso","13.4.1",13040100,{"path":291,"stem":292,"title":293,"date":153,"chapter":294,"chapterSort":295,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-4-udp-tong-xin","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch13-4-UDP通信","UDP通信","13.4",13040000,{"path":150,"stem":168,"title":5,"date":153,"chapter":151,"chapterSort":152,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},{"path":298,"stem":299,"title":300,"date":153,"chapter":301,"chapterSort":302,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-1-ji-qi-ren-zu-cheng","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-1-机器人组成","機器人組成","14.1",14010000,{"path":304,"stem":305,"title":306,"date":153,"chapter":307,"chapterSort":308,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-2-1-yuan-cheng-kai-fa-ssh","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-2-1-远程开发SSH","遠程開發SSH","14.2.1",14020100,{"path":310,"stem":311,"title":312,"date":153,"chapter":313,"chapterSort":314,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-2-2-yuan-cheng-fang-wen-zhuo-mian","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-2-2-远程访问桌面","遠程訪問桌面","14.2.2",14020200,{"path":316,"stem":317,"title":318,"date":153,"chapter":319,"chapterSort":320,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-2-gong-kong-ji-zhi-yuan-cheng-kai-fa-huan-jing","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-2-工控机之远程开发环境","工控機之遠程開發環境","14.2",14020000,{"path":322,"stem":323,"title":324,"date":153,"chapter":325,"chapterSort":326,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-3-gong-kong-ji-zhi-wai-jie-usb-she-bei","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-3-工控机之外接USB设备","工控機之外接USB設備","14.3",14030000,{"path":328,"stem":329,"title":330,"date":153,"chapter":331,"chapterSort":332,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-4-fen-bu-shi-da-jian","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-4-分布式搭建","分佈式搭建","14.4",14040000,{"path":334,"stem":335,"title":336,"date":153,"chapter":337,"chapterSort":338,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-5-you-hua-ri-zhi","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-5-优化日志","優化日誌","14.5",14050000,{"path":340,"stem":341,"title":342,"date":153,"chapter":343,"chapterSort":344,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-1-li-cheng-ji-odom","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-1-里程计Odom","里程計Odom","14.6.1",14060100,{"path":346,"stem":347,"title":348,"date":153,"chapter":349,"chapterSort":350,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-2-guan-xing-ji-imu","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-2-惯性计IMU","慣性計IMU","14.6.2",14060200,{"path":352,"stem":353,"title":354,"date":153,"chapter":355,"chapterSort":356,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-3-ji-guang-lei-da-lidar","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-3-激光雷达LiDAR","激光雷達LiDAR","14.6.3",14060300,{"path":358,"stem":359,"title":360,"date":153,"chapter":361,"chapterSort":362,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-4-xiang-ji-camera","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-4-相机Camera","相機Camera","14.6.4",14060400,{"path":364,"stem":365,"title":366,"date":153,"chapter":367,"chapterSort":368,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-5-quan-qiu-ding-wei-gnss","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-5-全球定位GNSS","全球定位GNSS","14.6.5",14060500,{"path":370,"stem":371,"title":372,"date":153,"chapter":373,"chapterSort":374,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-6-shou-bing-joy","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-6-手柄joy","手柄JOY","14.6.6",14060600,{"path":376,"stem":377,"title":378,"date":153,"chapter":379,"chapterSort":380,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-7-jian-pan-kong-zhi-jie-dian","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-7-键盘控制节点","鍵盤控制節點","14.6.7",14060700,{"path":382,"stem":383,"title":384,"date":153,"chapter":385,"chapterSort":386,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-ying-jian-ping-tai","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-6-硬件平台","硬件平臺","14.6",14060000,{"path":388,"stem":389,"title":390,"date":153,"chapter":391,"chapterSort":392,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-7-zuo-biao-xi-yu-hua-ti-guan-xi","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-7-坐标系与话题关系","座標系與話題關係","14.7",14070000,{"path":394,"stem":395,"title":396,"date":153,"chapter":397,"chapterSort":398,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-轮式里程计标定","輪式里程計標定","14.8.1.1",14080101,{"path":400,"stem":401,"title":402,"date":153,"chapter":403,"chapterSort":404,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-1-2-lun-shi-li-cheng-ji-yu-imu-rong-he","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-1-2-轮式里程计与IMU融合","輪式里程計與IMU融合","14.8.1.2",14080102,{"path":406,"stem":407,"title":408,"date":153,"chapter":409,"chapterSort":410,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-1-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-1-轮式里程计标定与融合","輪式里程計標定與融合","14.8.1",14080100,{"path":412,"stem":413,"title":414,"date":153,"chapter":415,"chapterSort":416,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-2-ji-guang-lei-da-gong-ju","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-2-激光雷达工具","激光雷達工具","14.8.2",14080200,{"path":418,"stem":419,"title":420,"date":153,"chapter":421,"chapterSort":422,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-3-xiang-ji-shi-yong-jin-jie","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-3-相机使用进阶","相機使用進階","14.8.3",14080300,{"path":424,"stem":425,"title":426,"date":153,"chapter":427,"chapterSort":428,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-ying-jian-ping-tai-jin-jie","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-8-硬件平台进阶","硬件平臺進階","14.8",14080000,{"path":430,"stem":431,"title":432,"date":153,"chapter":433,"chapterSort":434,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-ji-qi-ren-ying-jian","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch14-机器人硬件","機器人硬件","14",14000000,{"path":436,"stem":437,"title":438,"date":153,"chapter":439,"chapterSort":440,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch15-ros2-control","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch15-ROS2_Control","ROS2_Control","15",15000000,{"path":442,"stem":443,"title":444,"date":153,"chapter":445,"chapterSort":446,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch16-moveit2-gong-ye-ji-qi-ren-ji-xie-bi","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch16-Moveit2工业机器人机械臂","Moveit2工業機器人機械臂","16",16000000,{"path":448,"stem":449,"title":450,"date":153,"chapter":451,"chapterSort":452,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch17-ji-qi-ren-dao-hang-navigation2-shi-ti-pian","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch17-机器人导航Navigation2(实体篇)","機器人導航Navigation2(實體篇)","17",17000000,{"path":454,"stem":455,"title":456,"date":153,"chapter":457,"chapterSort":458,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch18-microros","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch18-MicroROS","MicroROS","18",18000000,{"path":460,"stem":461,"title":462,"date":153,"chapter":463,"chapterSort":464,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch19-webots-fang-zhen-ping-tai","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch19-Webots仿真平台","Webots仿真平臺","19",19000000,{"path":466,"stem":467,"title":468,"date":153,"chapter":469,"chapterSort":470,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch2-ru-men-cao-zuo","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch2-入门操作","入門操作","2",2000000,{"path":472,"stem":473,"title":474,"date":153,"chapter":475,"chapterSort":476,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch20-opencv","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch20-OpenCV","OpenCV","20",20000000,{"path":478,"stem":479,"title":480,"date":153,"chapter":481,"chapterSort":482,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch3-gong-zuo-kong-jian-yu-gong-neng-bao","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch3-工作空间与功能包","工作空間與功能包","3",3000000,{"path":484,"stem":485,"title":486,"date":153,"chapter":487,"chapterSort":488,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch4-si-da-tong-xin","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch4-四大通信","四大通信","4",4000000,{"path":490,"stem":491,"title":492,"date":153,"chapter":493,"chapterSort":494,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch5-ros2-qi-ta-tong-xin-ji-zhi","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch5-ROS2其他通信机制","ROS2其他通信機制","5",5000000,{"path":496,"stem":497,"title":498,"date":153,"chapter":499,"chapterSort":500,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch6-launch","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch6-Launch","Launch","6",6000000,{"path":502,"stem":503,"title":504,"date":153,"chapter":505,"chapterSort":506,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch7-hui-su-rosbag2","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch7-回溯rosbag2","回溯rosbag2","7",7000000,{"path":508,"stem":509,"title":510,"date":153,"chapter":511,"chapterSort":512,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch8-zuo-biao-bian-huan-tf","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch8-坐标变换TF","座標變換TF","8",8000000,{"path":514,"stem":515,"title":516,"date":153,"chapter":517,"chapterSort":518,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":160},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch9-ke-shi-hua-ping-tai-rviz2-yu-urdf-jian-mo-yu-yan","_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch9-可视化平台RVIZ2与URDF建模语言","可視化平臺RVIZ2與URDF建模語言","9",9000000,{"path":156,"stem":520,"title":521,"date":153,"chapter":162,"chapterSort":522,"docKey":155,"docRoot":156,"docTitle":157,"isWikiDoc":161,"isWikiIndex":161},"_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/index","ROS2機器人操作系統教程",0,{"variants":524},[525,528,529,532,535],{"path":526,"localeSlug":527,"i18nKey":159},"/en-us/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin","en-us",{"path":150,"localeSlug":164,"i18nKey":159},{"path":530,"localeSlug":531,"i18nKey":159},"/zh-hk/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin","zh-hk",{"path":533,"localeSlug":534,"i18nKey":159},"/zh-tw/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin","zh-tw",{"path":536,"localeSlug":537,"i18nKey":159},"/zh-cn/wiki/2023-12-30-ros2-tutorial/ch13-linux-ying-jian-tong-xin","zh-cn",[526,167,150,167,530,167,533,167,536,167],1780671832603]