{"id":118,"date":"2026-04-05T15:35:53","date_gmt":"2026-04-05T07:35:53","guid":{"rendered":"https:\/\/374969782.xyz\/?p=118"},"modified":"2026-04-05T18:55:45","modified_gmt":"2026-04-05T10:55:45","slug":"ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%885%ef%bc%89-%e9%80%9a%e4%bf%a1%e6%8e%a5%e5%8f%a3","status":"publish","type":"post","link":"https:\/\/374969782.xyz\/index.php\/2026\/04\/05\/ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%885%ef%bc%89-%e9%80%9a%e4%bf%a1%e6%8e%a5%e5%8f%a3\/","title":{"rendered":"ROS2\u5b66\u4e60\u8bb0\u5f55\uff085\uff09-\u901a\u4fe1\u63a5\u53e3"},"content":{"rendered":"\n

\u901a\u4fe1\u63a5\u53e3\u7684\u4e3b\u8981\u76ee\u7684\u5c31\u662f\u4f20\u8f93\u6570\u636e\uff0c\u4e3a\u4e86\u9ad8\u6548\u7684\u5efa\u7acb\u8fde\u63a5\uff0c\u5e76\u4e14\u51c6\u786e\u5305\u88c5\u548c\u89e3\u6790\u4f20\u8f93\u7684\u6570\u636e\u5185\u5bb9\uff0c\u8bdd\u9898\u3001\u670d\u52a1\u7b49\u673a\u5236\u4e5f\u5c31\u8bde\u751f\u4e86\uff0c\u4ed6\u4eec\u4f20\u8f93\u7684\u6570\u636e\uff0c\u90fd\u8981\u7b26\u5408\u901a\u4fe1\u63a5\u53e3\u7684\u6807\u51c6\u5b9a\u4e49<\/strong>\u3002\u8fd9\u4e9b\u63a5\u53e3\u770b\u4e0a\u53bb\u50cf\u662f\u7ed9\u6211\u4eec\u52a0\u4e86\u4e00\u4e9b\u7ea6\u675f\uff0c\u4f46\u5374\u662fROS\u7cfb\u7edf\u7684\u7cbe\u9ad3\u6240\u5728<\/strong>\u3002<\/p>\n\n\n\n

\u63a5\u53e3\u53ef\u4ee5\u8ba9\u7a0b\u5e8f\u4e4b\u95f4\u7684\u4f9d\u8d56\u964d\u4f4e\uff0c\u4fbf\u4e8e\u6211\u4eec\u4f7f\u7528\u522b\u4eba\u7684\u4ee3\u7801\uff0c\u4e5f\u65b9\u4fbf\u522b\u4eba\u4f7f\u7528\u6211\u4eec\u7684\u4ee3\u7801\uff0c\u8fd9\u5c31\u662fROS\u7684\u6838\u5fc3\u76ee\u6807\uff0c\u51cf\u5c11\u91cd\u590d\u9020\u8f6e\u5b50\u3002<\/p>\n\n\n\n

ROS\u6709\u4e09\u79cd\u5e38\u7528\u7684\u901a\u4fe1\u673a\u5236\uff0c\u5206\u522b\u662f\u8bdd\u9898\u3001\u670d\u52a1\u3001\u52a8\u4f5c<\/strong>\uff0c\u901a\u8fc7\u6bcf\u4e00\u79cd\u901a\u4fe1\u79cd\u5b9a\u4e49\u7684\u63a5\u53e3\uff0c\u5404\u79cd\u8282\u70b9\u624d\u80fd\u6709\u673a\u7684\u8054\u7cfb\u5230\u4e00\u8d77\u3002\u4e3a\u4e86\u4fdd\u8bc1\u6bcf\u4e00\u4e2a\u8282\u70b9\u53ef\u4ee5\u4f7f\u7528\u4e0d\u540c\u8bed\u8a00\u7f16\u7a0b\uff0cROS\u5c06\u8fd9\u4e9b\u63a5\u53e3\u7684\u8bbe\u8ba1\u505a\u6210\u4e86\u548c\u8bed\u8a00\u65e0\u5173<\/strong>\u7684\u3002<\/p>\n\n\n\n

\u8bdd\u9898\u901a\u4fe1\u63a5\u53e3\u7684\u5b9a\u4e49\u4f7f\u7528\u7684\u662f.msg\u6587\u4ef6\uff0c\u7531\u4e8e\u662f\u5355\u5411\u4f20\u8f93\uff0c\u53ea\u9700\u8981\u63cf\u8ff0\u4f20\u8f93\u7684\u6bcf\u4e00\u5e27\u6570\u636e\u662f\u4ec0\u4e48\u5c31\u884c\uff0c\u6bd4\u5982\u5728\u4f20\u8f93\u4e24\u4e2a32\u4f4d\u7684\u6574\u578b\u6570\uff0cx\u3001y\uff0c\u6211\u4eec\u53ef\u4ee5\u7528\u6765\u4f20\u8f93\u4e8c\u7ef4\u5750\u6807\u7684\u6570\u503c\u3002<\/p>\n\n\n\n

\u670d\u52a1\u901a\u4fe1\u63a5\u53e3\u7684\u5b9a\u4e49\u4f7f\u7528\u7684\u662f.srv\u6587\u4ef6\uff0c\u5305\u542b\u8bf7\u6c42\u548c\u5e94\u7b54\u4e24\u90e8\u5206\u5b9a\u4e49\uff0c\u901a\u8fc7\u4e2d\u95f4\u7684\u201c—\u201d\u533a\u5206\uff0c\u6bd4\u5982\u4e4b\u524d\u52a0\u6cd5\u6c42\u548c\u529f\u80fd\uff0c\u8bf7\u6c42\u6570\u636e\u662f\u4e24\u4e2a64\u4f4d\u6574\u578b\u6570a\u548cb\uff0c\u201c—\u201d\u540e\u7684\u5e94\u7b54\u662f\u6c42\u548c\u7684\u7ed3\u679csum\u3002<\/p>\n\n\n\n

\u52a8\u4f5c\u662f\u53e6\u5916\u4e00\u79cd\u901a\u4fe1\u673a\u5236\uff0c\u7528\u6765\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u4e00\u4e2a\u8fd0\u52a8\u8fc7\u7a0b\uff0c\u4f7f\u7528.action\u6587\u4ef6\u5b9a\u4e49\uff0c\u6bd4\u5982\u6211\u4eec\u8ba9\u5c0f\u6d77\u9f9f\u8f6c90\u5ea6\uff0c\u4e00\u8fb9\u8f6c\u4e00\u8fb9\u5468\u671f\u53cd\u9988\u5f53\u524d\u7684\u72b6\u6001\uff0c\u6b64\u65f6\u63a5\u53e3\u7684\u5b9a\u4e49\u5206\u6210\u4e86\u4e09\u4e2a\u90e8\u5206\uff0c\u5206\u522b\u662f\u52a8\u4f5c\u7684\u76ee\u6807\uff0c\u6bd4\u5982\u662f\u5f00\u59cb\u8fd0\u52a8\uff0c\u8fd0\u52a8\u7684\u7ed3\u679c\uff0c\u6700\u7ec8\u65cb\u8f6c\u768490\u5ea6\u662f\u5426\u5b8c\u6210\uff0c\u8fd8\u6709\u4e00\u4e2a\u5468\u671f\u53cd\u9988\uff0c\u6bd4\u5982\u6bcf\u96941s\u53cd\u9988\u4e00\u4e0b\u5f53\u524d\u8f6c\u5230\u7b2c10\u5ea6\u300120\u5ea6\u8fd8\u662f30\u5ea6\u4e86\uff0c\u8ba9\u6211\u4eec\u77e5\u9053\u8fd0\u52a8\u7684\u8fdb\u5ea6\u3002<\/p>\n\n\n\n

\u4e00\u4e2a.srv\u7684\u4f8b\u5b50\u5982\u4e0b\uff08\u6d88\u606f\u7c7b\u578b\u540d\u79f0\u5fc5\u987b\u4ee5\u5927\u5199\u5b57\u6bcd\u5f00\u5934\uff0c\u5373\u51e0\u4e2a\u6d88\u606f\u7c7b\u578b\u6587\u4ef6\u540d\u7684\u9996\u5b57\u6bcd\u90fd\u5fc5\u987b\u662f\u5927\u5199\u5b57\u6bcd\uff09\uff1a<\/p>\n\n\n\n

bool get      # \u83b7\u53d6\u76ee\u6807\u4f4d\u7f6e\u7684\u6307\u4ee4\n---\nint32 x       # \u76ee\u6807\u7684X\u5750\u6807\nint32 y       # \u76ee\u6807\u7684Y\u5750\u6807<\/code><\/pre>\n\n\n\n
\u7f16\u8bd1\u65f6\u4f1a\u6839\u636e\u4e0d\u540c\u8bed\u8a00\u6269\u5c55\u6210\u5bf9\u5e94\u8bed\u8a00\u7684\u5b9e\u73b0\u7ed3\u6784\uff0c\u6240\u6709\u5185\u5bb9\u4f1a\u5305\u62ec\u5728\u4e00\u4e2a\u5927\u7684\u7ed3\u6784\u4f53\u5185\uff0c\u8fd9\u91cc\u7684\u201c—\u201d\u524d\u540e\u53c8\u4f1a\u88ab\u7f16\u8bd1\u4e3a\u4e24\u4e2a\u5c0f\u7684\u7ed3\u6784\u4f53\uff08request\u548cresponse\uff09\uff0c\u4f5c\u4e3a\u5927\u7ed3\u6784\u4f53\u7684\u7ec4\u6210\u90e8\u5206\u3002\u7136\u540e\u9700\u8981\u5bf9\u8be5.srv\u6587\u4ef6\u6240\u5728\u6587\u4ef6\u5939\u8fdb\u884cc++\u529f\u80fd\u5305\u7684\u7f16\u8bd1\uff08.msg\u548c.action\u4e5f\u4e00\u6837\u8981\u7528cmake\u7f16\u8bd1\uff09\uff0c\u5f97\u5230c++\u529f\u80fd\u5305\u7684\u914d\u7f6e\u6587\u4ef6\u201cCMakeLists.txt\u201d\uff08\u5373\u4fbfpython\u4ee3\u7801\uff0c\u8fd9\u4e00\u6b65\u4e5f\u9700\u8981\u7528c++\u65b9\u5f0f\u7f16\u8bd1\u901a\u4fe1\u63a5\u53e3\u6587\u4ef6\uff09\uff0c\u6253\u5f00\u5e76\u914d\u7f6e\u201cCMakeLists.txt\u201d\u6587\u4ef6\u4e2d\u7684rosidl_generate_interfaces\uff0c\u5f62\u5982\uff1a<\/p>\n\n\n\n
rosidl_generate_interfaces(${PROJECT_NAME}\n  \"msg\/ObjectPosition.msg\"\n  \"srv\/AddTwoInts.srv\"\n  \"srv\/GetObjectPosition.srv\"\n  \"action\/MoveCircle.action\"\n )<\/code><\/pre>\n\n\n\n
\u5176\u4e2d\u6bcf\u884c\u586b\u7684\u53c2\u6570\u662f\u9700\u8981\u7f16\u8bd1\u7684\u901a\u4fe1\u63a5\u53e3\u6587\u4ef6\u7684\u5730\u5740\uff0c\u4ee5\u201cCMakeLists.txt\u201d\u6587\u4ef6\u6240\u5728\u76ee\u5f55\u4e3a\u6839\u76ee\u5f55\u8fdb\u884c\u67e5\u627e\u3002<\/p>\n\n\n\n
\u5728\u6267\u884ccolcon\u7f16\u8bd1\u65f6\uff0c\u4f1a\u5c06\u901a\u4fe1\u63a5\u53e3\u6587\u4ef6\u7f16\u8bd1\u5230install\u6587\u4ef6\u4e0b\u5bf9\u5e94\u4f4d\u7f6e\u3002\u5728\u4ee5\u4e0b\u5730\u5740\u4f1a\u5206\u522b\u751f\u6210\u4e00\u4efdc\u548cc++\u7684\u5e93\u6587\u4ef6\uff08get_object_position.h\u548cget_object_position.hpp\uff09\uff1a<\/p>\n\n\n\n
\u5de5\u4f5c\u7a7a\u95f4\/install\/learning_interface\/include\/learning_interface\/learning_interface\/srv<\/code><\/pre>\n\n\n\n
\u5728\u4ee5\u4e0b\u5730\u5740\u5219\u751f\u6210python\u7684\u5e93\u6587\u4ef6\uff08_get_object_position.py\u548c_get_object_position_s.c\uff09\uff1a<\/p>\n\n\n\n
\u5de5\u4f5c\u7a7a\u95f4\/install\/learning_interface\/local\/lib\/python3.10\/dist-packages\/learning_interface\/srv<\/code><\/pre>\n\n\n\n
\u5728python\u7a0b\u5e8f\u5185\u8c03\u7528\u63a5\u53e3\u65f6\uff0c\u53ea\u9700\u8981\u5982\u5bfc\u5165\u4e00\u822c\u7684\u5de5\u5177\u5305\u4e00\u6837\uff0c\u6309\u5730\u5740\u53bb\u5bfc\u5165\u8be5\u7ed3\u6784\u4f53\uff08\u7c7b\uff09\u5373\u53ef\u50cf\u4f7f\u7528\u666e\u901a\u7ed3\u6784\u4f53\uff08\u7c7b\uff09\u4e00\u6837\u53bb\u4f7f\u7528\u4e86\u3002\u5f62\u5982\u4ee5\u4e0b\u8bed\u53e5\uff0c\u201clearning_interface.srv\u201d\u5373\u8868\u793a\u4ee5\u9879\u76ee\u6839\u76ee\u5f55\u4e3a\u5f53\u524d\u76ee\u5f55\uff0c\u201c.\/learning_interface\/srv\u201d\u6587\u4ef6\u5939\u5185\u7684\u201cGetObjectPosition\u201d\u7c7b\uff08\u5b9e\u9645\u4e0a\u80af\u5b9a\u662f\u5728install\u6587\u4ef6\u5939\u91cc\u9762\u627e\u5230\u7684\uff0c\u53ea\u662f\u8fd9\u6837\u8bf4\u66f4\u597d\u5224\u65ad\u76ee\u5f55\u5c42\u7ea7\u7ed3\u6784\uff09\uff1a<\/p>\n\n\n\n
from learning_interface.srv import GetObjectPosition    # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3<\/code><\/pre>\n\n\n\n
\u5728server\u670d\u52a1\u5668\u7aef\u521b\u5efa\u670d\u52a1\u5668\u5bf9\u8c61\u7684\u65f6\u5019\u5c31\u53ef\u4ee5\u76f4\u63a5\u6307\u5b9a\u6d88\u606f\u7c7b\u578b\u4e3a\u201cGetObjectPosition\u201d\u7c7b\u4e86\uff1a<\/p>\n\n\n\n
\n# \u521b\u5efa\u670d\u52a1\u5668\u5bf9\u8c61\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u670d\u52a1\u540d\u3001\u670d\u52a1\u5668\u56de\u8c03\u51fd\u6570\uff09\nself.srv = self.create_service(GetObjectPosition, \n                   'get_target_position',\n                   self.object_position_callback)    <\/code><\/pre>\n\n\n\n
\u6536\u5230\u5ba2\u6237\u7aef\u8bf7\u6c42\u540e\u8c03\u7528\u56de\u8c03\u51fd\u6570\u65f6\uff0c\u63a5\u53d7\u5230\u7684\u662f\u4e00\u6574\u4e2a\u5b8c\u6574\u7684\u201cGetObjectPosition\u201d\u7c7b\uff0c\u5bf9\u4e8eserver\u7c7b\u578b\u7684\u901a\u4fe1\u63a5\u53e3\uff0c\u9700\u8981\u62c6\u6210request\u548cresponse\u6765\u5904\u7406\uff08\u5373\u524d\u6587\u6240\u8bf4\u4e24\u4e2a\u5c0f\u7ed3\u6784\u4f53\uff09\u3002\u987e\u540d\u601d\u4e49\uff0crequest\u90e8\u5206\u5c31\u662f\u5ba2\u6237\u7aef\u4f20\u9012\u6765\u7684\u5185\u5bb9\uff0c\u800c\u4fee\u6539\u5e76\u8fd4\u56deresponse\u5185\u5bb9\uff0c\u5c31\u662f\u8bbe\u5b9a\u8fd4\u56de\u7ed9\u5ba2\u6237\u7aef\u7684\u5185\u5bb9\u3002\u4e00\u4e2aserver\u7c7b\u7684\u56de\u8c03\u6210\u5458\u51fd\u6570\u5f62\u5982\uff1a<\/p>\n\n\n\n
    def object_position_callback(self, request, response):       # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bf7\u6c42\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        if request.get == True:\n            response.x = self.objectX                            # \u76ee\u6807\u7269\u4f53\u7684XY\u5750\u6807\n            response.y = self.objectY\n            self.get_logger().info('Object position\\nx: %d y: %d' %\n                                   (response.x, response.y))     # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u53cd\u9988\n        else:\n            response.x = 0\n            response.y = 0\n            self.get_logger().info('Invalid command')            # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u53cd\u9988\n        return response<\/code><\/pre>\n\n\n\n
\u5728client\u5ba2\u6237\u7aef\uff0c\u4e5f\u662f\u7c7b\u4f3c\u7684\u5904\u7406\uff0c\u5bfc\u5165\u7c7b\uff1a<\/p>\n\n\n\n
from learning_interface.srv import GetObjectPosition    # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3<\/code><\/pre>\n\n\n\n
\u5e76\u7528\u4e8e\u521b\u5efa\u8fde\u63a5\uff1a<\/p>\n\n\n\n
# \u521b\u5efa\u670d\u52a1\u5ba2\u6237\u7aef\u5bf9\u8c61\uff08\u670d\u52a1\u63a5\u53e3\u7c7b\u578b\uff0c\u670d\u52a1\u540d\uff09\nself.client = self.create_client(GetObjectPosition, 'get_target_position')<\/code><\/pre>\n\n\n\n
\u8bbe\u7f6e\u53d8\u91cf\u5b58\u653erequest\uff1a<\/p>\n\n\n\n
self.request = GetObjectPosition.Request()<\/code><\/pre>\n\n\n\n
\u8bbe\u7f6erequest\u7684\u53c2\u6570\u5e76\u901a\u8fc7\u5efa\u7acb\u7684client\u8fde\u63a5\u53d1\u9001\u7ed9\u670d\u52a1\u5668\u7aef\uff1a<\/p>\n\n\n\n
    def send_request(self):\n        self.request.get = True\n        self.future = self.client.call_async(self.request)<\/code><\/pre>\n\n\n\n
\u6700\u540e\u901a\u8fc7\u68c0\u6d4bself.future\uff0c\u9002\u65f6\u83b7\u53d6response\uff1a<\/p>\n\n\n\n
\nif node.future.done():\n    response = node.future.result()<\/code><\/pre>\n\n\n\n
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