[{"data":1,"prerenderedAt":382},["ShallowReactive",2],{"wiki-page-\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi":3,"wiki-doc-items-\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi":71,"language-switcher-data-\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi":366,"wiki-i18n-paths-\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi":381},{"id":4,"title":5,"body":6,"canonicalPath":51,"chapterDepth":52,"chapterOrder":53,"date":54,"description":15,"docI18nKey":55,"docKey":56,"docRoot":57,"docTitle":58,"extension":59,"i18nKey":60,"isBlogPost":61,"isWikiDoc":62,"isWikiIndex":61,"layout":63,"legacyPath":63,"locale":64,"localeSlug":65,"meta":66,"navigation":62,"path":51,"seo":67,"sourcePath":68,"sourceStem":60,"stem":69,"wikiDepth":52,"__hash__":70},"content\u002F_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-坐标系与话题关系.md","座標系與話題關係",{"type":7,"value":8,"toc":48},"minimark",[9,20,27,33,39,42,45],[10,11,12,17],"p",{},[13,14],"img",{"alt":15,"src":16},"","https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1803.webp",[13,18],{"alt":15,"src":19},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1804.webp",[10,21,22,26],{},[23,24,25],"strong",{},"odom座標系"," 不是固定不動的，原點是機器人的初始位置。",[10,28,29,32],{},[23,30,31],{},"base_link座標系"," 是機器人本體的座標系，固定在機器人中心（如底盤）。當機器人移動時，\u002Fodom話題發佈機器人運動數據，base_link座標系會相對於odom座標系移動。",[10,34,35,38],{},[23,36,37],{},"laser_link和imu_link等座標系"," 和base_link之間的位置是靜態的，所以當base_link移動了，其他子座標系也會跟隨移動。",[10,40,41],{},"odom座標系是根據機器人電機編碼器或者里程計反饋回來的數據預估的機器人出發時的位置，一般都會浮動。",[10,43,44],{},"map座標系是通過算法用激光雷達等傳感器預估出來的機器人出發時的位置。",[10,46,47],{},"但是由於建議使用樹形TF，所以我們通常將map座標系作為根座標系，所以此時map在rviz2裡是不動的，odom作為map座標系的下行座標系。（可以聽一下趙老師ROS1的課程，這裡講的很好）",{"title":15,"searchDepth":49,"depth":49,"links":50},2,[],"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi",1,"1400-0700","2023-12-30","wiki\u002F2023-12-30-ros2-tutorial","zh-tw:2023-12-30-ros2-tutorial","\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial","Ros2 Tutorial","md","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-坐标系与话题关系",false,true,null,"zh-TW","zh-tw",{},{"title":5,"description":15},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-坐标系与话题关系","WAXgVhZw_D4fxk5KUW0n_OMWYDgFkS-pMTu78jV0zVo",[72,78,83,88,93,98,103,108,113,118,123,128,133,138,143,148,153,158,163,168,173,178,183,188,193,198,202,207,211,216,221,226,231,236,241,246,251,256,261,266,271,276,281,286,291,296,297,303,308,313,318,323,328,333,338,343,348,353,358,363],{"path":73,"stem":74,"title":75,"date":54,"chapterOrder":76,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0100-ros2-jie-shao","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0100-ROS2介绍","ROS2介紹","0100",0,{"path":79,"stem":80,"title":81,"date":54,"chapterOrder":82,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0200-ru-men-cao-zuo","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0200-入门操作","入門操作","0200",{"path":84,"stem":85,"title":86,"date":54,"chapterOrder":87,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0300-gong-zuo-kong-jian-yu-gong-neng-bao","_i18n\u002Fzh-tw\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":89,"stem":90,"title":91,"date":54,"chapterOrder":92,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0400-si-da-tong-xin","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0400-四大通信","四大通信","0400",{"path":94,"stem":95,"title":96,"date":54,"chapterOrder":97,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0500-ros2-qi-ta-tong-xin-ji-zhi","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0500-ROS2其他通信机制","ROS2其他通信機制","0500",{"path":99,"stem":100,"title":101,"date":54,"chapterOrder":102,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0600-launch","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0600-Launch","Launch","0600",{"path":104,"stem":105,"title":106,"date":54,"chapterOrder":107,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0700-hui-su-rosbag2","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0700-回溯rosbag2","回溯rosbag2","0700",{"path":109,"stem":110,"title":111,"date":54,"chapterOrder":112,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0800-zuo-biao-bian-huan-tf","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0800-坐标变换TF","座標變換TF","0800",{"path":114,"stem":115,"title":116,"date":54,"chapterOrder":117,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0900-ke-shi-hua-ping-tai-rviz2-yu-urdf-jian-mo-yu-yan","_i18n\u002Fzh-tw\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":119,"stem":120,"title":121,"date":54,"chapterOrder":122,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1000-stage-ros2-fang-zhen-ping-tai","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1000-Stage_Ros2仿真平台","Stage_Ros2仿真平臺","1000",{"path":124,"stem":125,"title":126,"date":54,"chapterOrder":127,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-gazeboclassic","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-GazeboClassic","Gezebo Classic","1100-0100",{"path":129,"stem":130,"title":131,"date":54,"chapterOrder":132,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-ignitiongazebo","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-IgnitionGazebo","Ignition Gazebo（Gazebo Fortress）","1100-0200",{"path":134,"stem":135,"title":136,"date":54,"chapterOrder":137,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-gazebosim","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-GazeboSim","Gz Sim（Gazebo Harmonic）","1100-0300",{"path":139,"stem":140,"title":141,"date":54,"chapterOrder":142,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-igngz2gzsim","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-Igngz2gzsim","將Ign Gazebo遷移至Gz Sim","1100-0400",{"path":144,"stem":145,"title":146,"date":54,"chapterOrder":147,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-Gezebo仿真平台","Gezebo仿真平臺","1100",{"path":149,"stem":150,"title":151,"date":54,"chapterOrder":152,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-humble-ban-ben","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-Humble版本","Humble導航仿真","1200-0100",{"path":154,"stem":155,"title":156,"date":54,"chapterOrder":157,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-jazzy-ban-ben","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-Jazzy版本","Jazzy導航仿真","1200-0200",{"path":159,"stem":160,"title":161,"date":54,"chapterOrder":162,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-humble2jazzy","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-Humble2Jazzy","Humble與Jazzy導航的差異","1200-0300",{"path":164,"stem":165,"title":166,"date":54,"chapterOrder":167,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-ji-qi-ren-dao-hang-navigation2-fang-zhen-pian","_i18n\u002Fzh-tw\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":169,"stem":170,"title":171,"date":54,"chapterOrder":172,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-boost-aiso","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-Boost.Aiso","Boost.Asio庫","1300-0100-0100",{"path":174,"stem":175,"title":176,"date":54,"chapterOrder":177,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2_serial_driver","ROS2 Serial Driver庫","1300-0100-0200",{"path":179,"stem":180,"title":181,"date":54,"chapterOrder":182,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-chuan-kou-tong-xin","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-串口通信","UART串口通信","1300-0100",{"path":184,"stem":185,"title":186,"date":54,"chapterOrder":187,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","SocketCAN","1300-0200-0100",{"path":189,"stem":190,"title":191,"date":54,"chapterOrder":192,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2-socketcan","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2_socketcan","ROS2_SocketCAN","1300-0200-0200",{"path":194,"stem":195,"title":196,"date":54,"chapterOrder":197,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-can-tong-xin","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-CAN通信","CAN通信","1300-0200",{"path":199,"stem":200,"title":171,"date":54,"chapterOrder":201,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-boost-aiso","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-Boost.Aiso","1300-0300-0100",{"path":203,"stem":204,"title":205,"date":54,"chapterOrder":206,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-tcp-tong-xin","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-TCP通信","TCP通信","1300-0300",{"path":208,"stem":209,"title":171,"date":54,"chapterOrder":210,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-boost-aiso","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-Boost.Aiso","1300-0400-0100",{"path":212,"stem":213,"title":214,"date":54,"chapterOrder":215,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-udp-tong-xin","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-UDP通信","UDP通信","1300-0400",{"path":217,"stem":218,"title":219,"date":54,"chapterOrder":220,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-linux-ying-jian-tong-xin","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-Linux硬件通信","Linux硬件通信","1300",{"path":222,"stem":223,"title":224,"date":54,"chapterOrder":225,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-ji-qi-ren-zu-cheng","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-机器人组成","機器人組成","1400-0100",{"path":227,"stem":228,"title":229,"date":54,"chapterOrder":230,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-yuan-cheng-kai-fa-ssh","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-远程开发SSH","遠程開發SSH","1400-0200-0100",{"path":232,"stem":233,"title":234,"date":54,"chapterOrder":235,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0200-yuan-cheng-fang-wen-zhuo-mian","_i18n\u002Fzh-tw\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":237,"stem":238,"title":239,"date":54,"chapterOrder":240,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-gong-kong-ji-zhi-yuan-cheng-kai-fa-huan-jing","_i18n\u002Fzh-tw\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":242,"stem":243,"title":244,"date":54,"chapterOrder":245,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0300-gong-kong-ji-zhi-wai-jie-usb-she-bei","_i18n\u002Fzh-tw\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":247,"stem":248,"title":249,"date":54,"chapterOrder":250,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-fen-bu-shi-da-jian","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-分布式搭建","分佈式搭建","1400-0400",{"path":252,"stem":253,"title":254,"date":54,"chapterOrder":255,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-you-hua-ri-zhi","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-优化日志","優化日誌","1400-0500",{"path":257,"stem":258,"title":259,"date":54,"chapterOrder":260,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-里程计Odom","里程計Odom","1400-0600-0100",{"path":262,"stem":263,"title":264,"date":54,"chapterOrder":265,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-guan-xing-ji-imu","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-惯性计IMU","慣性計IMU","1400-0600-0200",{"path":267,"stem":268,"title":269,"date":54,"chapterOrder":270,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-ji-guang-lei-da-lidar","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-激光雷达LiDAR","激光雷達LiDAR","1400-0600-0300",{"path":272,"stem":273,"title":274,"date":54,"chapterOrder":275,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-xiang-ji-camera","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-相机Camera","相機Camera","1400-0600-0400",{"path":277,"stem":278,"title":279,"date":54,"chapterOrder":280,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-quan-qiu-ding-wei-gnss","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-全球定位GNSS","全球定位GNSS","1400-0600-0500",{"path":282,"stem":283,"title":284,"date":54,"chapterOrder":285,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-shou-bing-joy","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-手柄joy","手柄JOY","1400-0600-0600",{"path":287,"stem":288,"title":289,"date":54,"chapterOrder":290,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-jian-pan-kong-zhi-jie-dian","_i18n\u002Fzh-tw\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":292,"stem":293,"title":294,"date":54,"chapterOrder":295,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-ying-jian-ping-tai","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-硬件平台","硬件平臺","1400-0600",{"path":51,"stem":69,"title":5,"date":54,"chapterOrder":53,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},{"path":298,"stem":299,"title":300,"date":54,"chapterOrder":301,"chapterDepth":302,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0100-lun-shi-li-cheng-ji-biao-ding","_i18n\u002Fzh-tw\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",3,{"path":304,"stem":305,"title":306,"date":54,"chapterOrder":307,"chapterDepth":302,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0200-lun-shi-li-cheng-ji-yu-imu-rong-he","_i18n\u002Fzh-tw\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":309,"stem":310,"title":311,"date":54,"chapterOrder":312,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","_i18n\u002Fzh-tw\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":314,"stem":315,"title":316,"date":54,"chapterOrder":317,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0200-ji-guang-lei-da-gong-ju","_i18n\u002Fzh-tw\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":319,"stem":320,"title":321,"date":54,"chapterOrder":322,"chapterDepth":49,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0300-xiang-ji-shi-yong-jin-jie","_i18n\u002Fzh-tw\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":324,"stem":325,"title":326,"date":54,"chapterOrder":327,"chapterDepth":52,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-ying-jian-ping-tai-jin-jie","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-硬件平台进阶","硬件平臺進階","1400-0800",{"path":329,"stem":330,"title":331,"date":54,"chapterOrder":332,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-ji-qi-ren-ying-jian","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-机器人硬件","機器人硬件","1400",{"path":334,"stem":335,"title":336,"date":54,"chapterOrder":337,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1500-ros2-control","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1500-ROS2_Control","ROS2_Control","1500",{"path":339,"stem":340,"title":341,"date":54,"chapterOrder":342,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1600-moveit2-gong-ye-ji-qi-ren-ji-xie-bi","_i18n\u002Fzh-tw\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":344,"stem":345,"title":346,"date":54,"chapterOrder":347,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1700-ji-qi-ren-dao-hang-navigation2-shi-ti-pian","_i18n\u002Fzh-tw\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":349,"stem":350,"title":351,"date":54,"chapterOrder":352,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1800-microros","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1800-MicroROS","MicroROS","1800",{"path":354,"stem":355,"title":356,"date":54,"chapterOrder":357,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1900-webots-fang-zhen-ping-tai","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1900-Webots仿真平台","Webots仿真平臺","1900",{"path":359,"stem":360,"title":361,"date":54,"chapterOrder":362,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":61},"\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F2000-opencv","_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F2000-OpenCV","OpenCV","2000",{"path":57,"stem":364,"title":365,"date":54,"chapterOrder":63,"chapterDepth":77,"docKey":56,"docRoot":57,"docTitle":58,"isWikiDoc":62,"isWikiIndex":62},"_i18n\u002Fzh-tw\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002Findex","ROS2機器人操作系統教程",{"variants":367},[368,371,374,377,378],{"path":369,"localeSlug":370,"i18nKey":60},"\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi","en-us",{"path":372,"localeSlug":373,"i18nKey":60},"\u002Fzh-hant\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi","zh-hant",{"path":375,"localeSlug":376,"i18nKey":60},"\u002Fzh-hk\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi","zh-hk",{"path":51,"localeSlug":65,"i18nKey":60},{"path":379,"localeSlug":380,"i18nKey":60},"\u002Fzh-cn\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi","zh-cn",[369,68,372,68,375,68,51,68,379,68],1784646884318]