{"id":168,"date":"2026-04-12T20:32:16","date_gmt":"2026-04-12T12:32:16","guid":{"rendered":"https:\/\/374969782.xyz\/?p=168"},"modified":"2026-04-12T20:32:16","modified_gmt":"2026-04-12T12:32:16","slug":"ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%8812%ef%bc%89-urdf%ef%bc%9a%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%bb%ba%e6%a8%a1%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/374969782.xyz\/index.php\/2026\/04\/12\/ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%8812%ef%bc%89-urdf%ef%bc%9a%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%bb%ba%e6%a8%a1%e6%96%b9%e6%b3%95\/","title":{"rendered":"ROS2\u5b66\u4e60\u8bb0\u5f55\uff0812\uff09-URDF\uff1a\u673a\u5668\u4eba\u5efa\u6a21\u65b9\u6cd5"},"content":{"rendered":"\n
\u673a\u5668\u4eba\u7684\u7ec4\u6210\uff1a\u5efa\u6a21\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u81ea\u5df1\u9700\u8981\u5148\u719f\u6089\u673a\u5668\u4eba\u7684\u7ec4\u6210\u548c\u53c2\u6570\uff0c\u6bd4\u5982\u673a\u5668\u4eba\u4e00\u822c\u662f\u7531\u786c\u4ef6\u7ed3\u6784\u3001\u9a71\u52a8\u7cfb\u7edf\u3001\u4f20\u611f\u5668\u7cfb\u7edf\u3001\u63a7\u5236\u7cfb\u7edf\u56db\u5927\u90e8\u5206\u7ec4\u6210\uff0c\u5e02\u9762\u4e0a\u4e00\u4e9b\u5e38\u89c1\u7684\u673a\u5668\u4eba\uff0c\u65e0\u8bba\u662f\u79fb\u52a8\u673a\u5668\u4eba\u8fd8\u662f\u673a\u68b0\u81c2\uff0c\u6211\u4eec\u90fd\u53ef\u4ee5\u6309\u7167\u8fd9\u56db\u5927\u7ec4\u6210\u90e8\u5206\u8fdb\u884c\u5206\u89e3\u3002<\/summary>\n

\u786c\u4ef6\u7ed3\u6784\u5c31\u662f\u5e95\u76d8\u3001\u5916\u58f3\u3001\u7535\u673a\u7b49\u5b9e\u6253\u5b9e\u53ef\u4ee5\u770b\u5230\u7684\u8bbe\u5907\uff1b<\/p>\n\n\n\n

\u9a71\u52a8\u7cfb\u7edf\u5c31\u662f\u53ef\u4ee5\u9a71\u4f7f\u8fd9\u4e9b\u8bbe\u5907\u6b63\u5e38\u4f7f\u7528\u7684\u88c5\u7f6e\uff0c\u6bd4\u5982\u7535\u673a\u7684\u9a71\u52a8\u5668\uff0c\u7535\u6e90\u7ba1\u7406\u7cfb\u7edf\u7b49\uff1b<\/p>\n\n\n\n

\u4f20\u611f\u7cfb\u7edf\u5305\u62ec\u7535\u673a\u4e0a\u7684\u7f16\u7801\u5668\u3001\u677f\u8f7d\u7684IMU\u3001\u5b89\u88c5\u7684\u6444\u50cf\u5934\u3001\u96f7\u8fbe\u7b49\u7b49\uff0c\u4fbf\u4e8e\u673a\u5668\u4eba\u611f\u77e5\u81ea\u5df1\u7684\u72b6\u6001\u548c\u5916\u90e8\u7684\u73af\u5883\uff1b<\/p>\n\n\n\n

\u63a7\u5236\u7cfb\u7edf\u5c31\u662f\u6211\u4eec\u5f00\u53d1\u8fc7\u7a0b\u7684\u4e3b\u8981\u8f7d\u4f53\u4e86\uff0c\u4e00\u822c\u662f\u6811\u8393\u6d3e\u3001\u7535\u8111\u7b49\u8ba1\u7b97\u5e73\u53f0\uff0c\u4ee5\u53ca\u91cc\u8fb9\u7684\u64cd\u4f5c\u7cfb\u7edf\u548c\u5e94\u7528\u8f6f\u4ef6\u3002<\/p>\n<\/details>\n\n\n\n

\u673a\u5668\u4eba\u5efa\u6a21\u7684\u8fc7\u7a0b\uff0c\u5176\u5b9e\u5c31\u662f\u6309\u7167\u7c7b\u4f3c\u7684\u601d\u8def\uff0c\u901a\u8fc7\u5efa\u6a21\u8bed\u8a00\uff0c\u628a\u673a\u5668\u4eba\u6bcf\u4e00\u4e2a\u90e8\u5206\u90fd\u63cf\u8ff0\u6e05\u695a\uff0c\u518d\u7ec4\u5408\u8d77\u6765\u7684\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

ROS\u4e2d\u7684\u5efa\u6a21\u65b9\u6cd5\u53eb\u505aURDF<\/strong>\uff0c\u5168\u79f0\u662f\u7edf\u4e00\u673a\u5668\u4eba\u63cf\u8ff0\u683c\u5f0f<\/strong>\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u6e05\u6670\u63cf\u8ff0\u673a\u5668\u4eba\u81ea\u8eab\u7684\u6a21\u578b\uff0c\u8fd8\u53ef\u4ee5\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u5916\u90e8\u73af\u5883\uff08\u684c\u5b50\u7b49\uff09\u3002<\/p>\n\n\n\n

URDF\u6a21\u578b\u6587\u4ef6\u4f7f\u7528\u7684\u662fXML\u683c\u5f0f<\/strong>\u3002<\/p>\n\n\n\n

\u5728\u5efa\u6a21\u4e2d\uff0c\u5927\u81c2\u548c\u5c0f\u81c2\u5c31\u7c7b\u4f3c\u673a\u5668\u4eba\u7684\u8fd9\u4e9b\u72ec\u7acb\u7684\u521a\u4f53\u90e8\u5206\uff0c\u79f0\u4e3a\u8fde\u6746Link<\/strong>\uff0c\u624b\u8098\u5c31\u7c7b\u4f3c\u4e8e\u673a\u5668\u4eba\u7535\u673a\u9a71\u52a8\u90e8\u5206\uff0c\u79f0\u4e3a\u5173\u8282joint<\/strong>\u3002<\/p>\n\n\n\n

\u6240\u4ee5\u5728URDF\u5efa\u6a21\u8fc7\u7a0b\u4e2d\uff0c\u5173\u952e\u4efb\u52a1\u5c31\u662f\u901a\u8fc7\u8fd9\u91cc\u7684<link>\u548c<joint>\uff0c\u7406\u6e05\u695a\u6bcf\u4e00\u4e2a\u8fde\u6746\u548c\u5173\u8282\u7684\u63cf\u8ff0\u4fe1\u606f\u3002<\/p>\n\n\n\n

\u8fde\u6746Link<\/strong>\uff1a<\/summary>\n

\u63cf\u8ff0\u673a\u5668\u4eba\u67d0\u4e2a\u521a\u4f53\u90e8\u5206\u7684\u5916\u89c2\u548c\u7269\u7406\u5c5e\u6027<\/strong>\u3002<\/p>\n\n\n\n

\u63cf\u8ff0\u8fde\u6746\u5c3a\u5bf8\u3001\u989c\u8272\u3001\u5f62\u72b6\uff0c\u7269\u7406\u5c5e\u6027\u5305\u62ec\u8d28\u91cf\u3001\u60ef\u6027\u77e9\u9635\u3001\u78b0\u649e\u53c2\u6570\u7b49\u3002<\/p>\n\n\n\n

\u6bcf\u4e2aLink\u4f1a\u6210\u4e3a\u4e00\u4e2a\u5750\u6807\u7cfb\u3002<\/p>\n<\/details>\n\n\n\n

\u4ee5\u4e00\u4e2a\u673a\u68b0\u81c2\u8fde\u6746\u4e3a\u4f8b\uff0c\u5b83\u7684link\u63cf\u8ff0\u5982\u4e0b\uff1a<\/p>\n\n\n\n

<link name=\"link_4\">\n    <visual>\n        <geometry>\n            <mesh filename=\"link_4.stl\"\/>\n        <\/geometry>\n        <origin xyz=\"0 0 0\" rpy=\"0 0 0\" \/>\n    <\/visual>\n    <collision>\n        <geometry>\n            <cylinder length=\"0.5\" radius=\"0.1\"\/>\n        <\/geometry>\n        <origin xyz=\"0 0 -0.05\u2033 rpy=\"0 0 0\" \/>\n    <\/collision>\n<\/1ink><\/code><\/pre>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
link\u6807\u7b7e\u4e2d\u7684name\u8868\u793a\u8be5\u8fde\u6746\u7684\u540d\u79f0\uff0c\u6211\u4eec\u53ef\u4ee5\u81ea\u5b9a\u4e49\uff0c\u672a\u6765joint\u8fde\u63a5link\u7684\u65f6\u5019\uff0c\u4f1a\u4f7f\u7528\u5230\u8fd9\u4e2a\u540d\u79f0\u3002<\/p>\n\n\n\n
link\u91cc\u8fb9\u7684<visual>\u90e8\u5206\u7528\u6765\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u5916\u89c2\uff0c\u6bd4\u5982\uff1a<\/p>\n\n\n\n
    \n
  • <geometry>\u8868\u793a\u51e0\u4f55\u5f62\u72b6<\/strong>\uff0c\u91cc\u8fb9\u4f7f\u7528<mesh>\u8c03\u7528\u4e86\u4e00\u4e2a\u5728\u4e09\u7ef4\u8f6f\u4ef6\u4e2d\u63d0\u524d\u8bbe\u8ba1\u597d\u7684\u84dd\u8272\u5916\u89c2\uff0c\u662f\u4e00\u4e2astl\u6587\u4ef6\uff0c\u770b\u4e0a\u53bb\u548c\u771f\u5b9e\u673a\u5668\u4eba\u662f\u4e00\u81f4\u7684<\/li>\n\n\n\n
  • <origin>\u8868\u793a\u5750\u6807\u7cfb\u76f8\u5bf9\u521d\u59cb\u4f4d\u7f6e\u7684\u504f\u79fb<\/strong>\uff0c\u5206\u522b\u662fx\u3001y\u3001z\u65b9\u5411\u4e0a\u7684\u5e73\u79fb\uff0c\u548croll\u3001pitch\u3001raw\u4e09\u4e2a\u65b9\u5411\u4e0a\u7684\u65cb\u8f6c\uff0c\u4e0d\u9700\u8981\u504f\u79fb\u7684\u8bdd\uff0c\u5c31\u5168\u4e3a0\u3002<\/li>\n<\/ul>\n\n\n\n
    \u7b2c\u4e8c\u4e2a\u90e8\u5206<collision>\uff0c\u63cf\u8ff0\u78b0\u649e\u53c2\u6570<\/strong>\uff0c\u91cc\u8fb9\u7684\u5185\u5bb9\u4f3c\u4e4e\u548c<visual>\u4e00\u6837\uff0c\u4e5f\u6709<geometry>\u548c<origin>\uff0c\u770b\u4f3c\u76f8\u540c\uff0c\u5176\u5b9e\u533a\u522b\u8fd8\u662f\u6bd4\u8f83\u5927\u7684\u3002<\/p>\n\n\n\n
      \n
    • <visual>\u90e8\u5206\u91cd\u5728\u63cf\u8ff0\u673a\u5668\u4eba\u770b\u4e0a\u53bb\u7684\u72b6\u6001\uff0c\u4e5f\u5c31\u662f\u89c6\u89c9\u6548\u679c\uff1b<\/li>\n\n\n\n
    • <collision>\u90e8\u5206\u5219\u662f\u63cf\u8ff0\u673a\u5668\u4eba\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u7684\u72b6\u6001\uff0c\u6bd4\u5982\u673a\u5668\u4eba\u4e0e\u5916\u754c\u5982\u4f55\u63a5\u89e6\u7b97\u4f5c\u78b0\u649e\u3002<\/li>\n<\/ul>\n\n\n\n
      \u5728\u8fd9\u4e2a\u673a\u5668\u4eba\u6a21\u578b\u4e2d\uff0c\u84dd\u8272\u90e8\u5206\u662f\u901a\u8fc7<visual>\u6765\u63cf\u8ff0\u7684\uff0c\u5728\u5b9e\u9645\u63a7\u5236\u8fc7\u7a0b\u4e2d\uff0c\u8fd9\u6837\u590d\u6742\u7684\u5916\u89c2\u5728\u8ba1\u7b97\u78b0\u649e\u68c0\u6d4b\u65f6\uff0c\u8981\u6c42\u7684\u7b97\u529b\u8f83\u9ad8\uff0c\u4e3a\u4e86\u7b80\u5316\u8ba1\u7b97\uff0c\u6211\u4eec\u5c06\u78b0\u649e\u68c0\u6d4b\u7528\u7684\u6a21\u578b\u7b80\u5316\u4e3a\u4e86\u7eff\u8272\u6846\u7684\u5706\u67f1\u4f53\uff0c\u4e5f\u5c31\u662f<collision>\u91cc\u8fb9<geometry>\u63cf\u8ff0\u7684\u5f62\u72b6\u3002<origin>\u5750\u6807\u7cfb\u504f\u79fb\u4e5f\u662f\u7c7b\u4f3c\uff0c\u53ef\u4ee5\u63cf\u8ff0\u521a\u4f53\u8d28\u5fc3\u7684\u504f\u79fb\u3002<\/p>\n\n\n\n
      \u5bf9\u4e8e\u79fb\u52a8\u673a\u5668\u4eba\u7684\u8bdd\uff0clink\u4e5f\u53ef\u4ee5\u7528\u6765\u63cf\u8ff0\u5c0f\u8f66\u7684\u8f66\u4f53\u3001\u8f6e\u5b50\u7b49\u90e8\u5206\u3002<\/p>\n\n\n\n
      <\/p>\n\n\n\n
      \u673a\u5668\u4eba\u7684\u521a\u4f53\u4e4b\u95f4\u8981\u901a\u8fc7<joint>\u76f8\u8fde\u63a5\u540e\u624d\u53ef\u4ee5\u4ea7\u751f\u76f8\u5bf9\u8fd0\u52a8\u3002<\/p>\n\n\n\n
      \u5173\u8282joint<\/strong>\uff1a<\/summary>\n
      \u63cf\u8ff0\u4e24\u4e2alink\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u5206\u4e3a\u516d\u79cd\u7c7b\u578b\uff1b
      \u5305\u62ec\u5173\u8282\u8fd0\u52a8\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u9650\u5236\uff1b
      \u63cf\u8ff0\u673a\u5668\u4eba\u5173\u8282\u7684\u8fd0\u52a8\u5b66\u548c\u52a8\u529b\u5b66\u5c5e\u6027\u3002<\/p>\n\n\n\n
      <\/p>\n<\/details>\n\n\n\n
      URDF\u7684<joint>\u6709\u516d\u79cd\u8fd0\u52a8\u7c7b\u578b\uff1a<\/p>\n\n\n\n
      \"\"<\/div><\/figure>\n\n\n\n
        \n
      1. continuous\uff0c\u63cf\u8ff0\u65cb\u8f6c\u8fd0\u52a8\uff0c\u53ef\u4ee5\u56f4\u7ed5\u67d0\u4e00\u4e2a\u8f74\u65e0\u9650<\/strong>\u65cb\u8f6c\uff0c\u6bd4\u5982\u5c0f\u8f66\u7684\u8f6e\u5b50\uff0c\u5c31\u5c5e\u4e8e\u8fd9\u79cd\u7c7b\u578b\u3002<\/li>\n\n\n\n
      2. revolute\uff0c\u4e5f\u662f\u65cb\u8f6c\u5173\u8282\uff0c\u548ccontinuous\u7c7b\u578b\u7684\u533a\u522b\u5728\u4e8e\u4e0d\u80fd\u65e0\u9650\u65cb\u8f6c<\/strong>\uff0c\u800c\u662f\u5e26\u6709\u89d2\u5ea6\u9650\u5236\uff0c\u6bd4\u5982\u673a\u68b0\u81c2\u7684\u4e24\u4e2a\u8fde\u6746\uff0c\u5c31\u5c5e\u4e8e\u8fd9\u79cd\u8fd0\u52a8\u3002<\/li>\n\n\n\n
      3. prismatic\uff0c\u662f\u6ed1\u52a8<\/strong>\u5173\u8282\uff0c\u53ef\u4ee5\u6cbf\u67d0\u4e00\u4e2a\u8f74\u5e73\u79fb\uff0c\u4e5f\u5e26\u6709\u4f4d\u7f6e\u7684\u6781\u9650\uff0c\u4e00\u822c\u76f4\u7ebf\u7535\u673a\u5c31\u662f\u8fd9\u79cd\u8fd0\u52a8\u65b9\u5f0f\u3002<\/li>\n\n\n\n
      4. fixed\uff0c\u56fa\u5b9a\u5173\u8282\uff0c\u662f\u552f\u4e00\u4e00\u79cd\u4e0d\u5141\u8bb8\u8fd0\u52a8\u7684\u5173\u8282\uff0c\u4e0d\u8fc7\u4f7f\u7528\u8fd8\u662f\u6bd4\u8f83\u9891\u7e41\u7684\uff0c\u6bd4\u5982\u76f8\u673a\u8fd9\u4e2a\u8fde\u6746\uff0c\u5b89\u88c5\u5728\u673a\u5668\u4eba\u4e0a\uff0c\u76f8\u5bf9\u4f4d\u7f6e\u662f\u4e0d\u4f1a\u53d8\u5316\u7684\uff0c\u6b64\u65f6\u4f7f\u7528\u7684\u8fde\u63a5\u65b9\u5f0f\u5c31\u662fFixed\u3002<\/li>\n\n\n\n
      5. Floating\u662f\u6d6e\u52a8\u5173\u8282\uff0c\u7b2c\u516d\u79cdplanar\u662f\u5e73\u9762\u5173\u8282\uff0c\u8fd9\u4e24\u79cd\u4f7f\u7528\u76f8\u5bf9\u8f83\u5c11\u3002<\/li>\n\n\n\n
      6. planar\u662f\u5e73\u9762\u5173\u8282\uff0c\u5141\u8bb8\u5728\u5e73\u9762\u6b63\u4ea4\u65b9\u5411\u4e0a\u5e73\u79fb\u6216\u8005\u65cb\u8f6c\u3002<\/li>\n<\/ol>\n\n\n\n
        \u5728URDF\u6a21\u578b\u4e2d\uff0c\u6bcf\u4e00\u4e2alink\u90fd\u4f7f\u7528\u8fd9\u6837\u4e00\u6bb5xml\u5185\u5bb9\u63cf\u8ff0\uff0c\u6bd4\u5982\u5173\u8282\u7684\u540d\u5b57\u53eb\u4ec0\u4e48\uff0c\u8fd0\u52a8\u7c7b\u578b\u662f\u54ea\u4e00\u79cd\u3002\u4ee5\u4e0b\u5373\u662f\u4e00\u4e2ajoint\u7684\u793a\u4f8b\uff1a<\/p>\n\n\n\n
        <joint name=\"joint_2\" type=\"revolute\">\n    <parent link=\"link_i\"\/>\n    <child link=\"link2\"\/>\n    <origin xyz=\"0.2 0.2 0\" rpy=\"0 0 0\"\/>\n    <axis xyz=\"0 0 1\"\/>\n    <limit lower=\"-3.14\" upper=\"3.14\" velocity=\"1.0\"\/>\n<\/joint><\/code><\/pre>\n\n\n\n
        \"\"<\/div><\/figure>\n\n\n\n
          \n
        • parent\u6807\u7b7e\uff1a\u63cf\u8ff0\u7236\u8fde\u6746\uff1b<\/li>\n\n\n\n
        • child\u6807\u7b7e\uff1a\u63cf\u8ff0\u5b50\u8fde\u6746\uff0c\u5b50\u8fde\u6746\u4f1a\u76f8\u5bf9\u7236\u8fde\u6746\u53d1\u751f\u8fd0\u52a8\uff1b<\/li>\n\n\n\n
        • origin\uff1a\u8868\u793a\u4e24\u4e2a\u8fde\u6746\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u4e5f\u5c31\u662f\u56fe\u4e2d\u7ea2\u8272\u7684\u5411\u91cf\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a\u8fd9\u4e24\u4e2a\u8fde\u6746\u8be5\u5982\u4f55\u5b89\u88c5\u5230\u4e00\u8d77\uff1b<\/li>\n\n\n\n
        • axis\u8868\u793a\u5173\u8282\u8fd0\u52a8\u8f74\u7684\u5355\u4f4d\u5411\u91cf\uff0c\u6bd4\u5982z\u7b49\u4e8e1\uff0c\u5c31\u8868\u793a\u8fd9\u4e2a\u65cb\u8f6c\u8fd0\u52a8\u662f\u56f4\u7ed5z\u8f74\u7684\u6b63\u65b9\u5411\u8fdb\u884c\u7684\uff1b<\/li>\n\n\n\n
        • limit\u5c31\u8868\u793a\u8fd0\u52a8\u7684\u4e00\u4e9b\u9650\u5236\u4e86\uff0c\u6bd4\u5982\u6700\u5c0f\u4f4d\u7f6e\uff0c\u6700\u5927\u4f4d\u7f6e\uff0c\u548c\u6700\u5927\u901f\u5ea6\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n
          <\/p>\n\n\n\n
          \u6700\u7ec8\u6240\u6709\u7684link\u548cjoint\u6807\u7b7e\u5b8c\u6210\u4e86\u5bf9\u673a\u5668\u4eba\u6bcf\u4e2a\u90e8\u5206\u7684\u63cf\u8ff0\u548c\u7ec4\u5408\uff0c\u5168\u90fd\u653e\u5728\u4e00\u4e2arobot\u6807\u7b7e\u4e2d\uff0c\u5c31\u5f62\u6210\u4e86\u5b8c\u6574\u7684\u673a\u5668\u4eba\u6a21\u578b\u3002<\/p>\n\n\n\n
          \u673a\u5668\u4ebarobot<\/strong>\uff1a<\/summary>\n
          \u5b8c\u6574\u673a\u5668\u4eba\u6a21\u578b\u7684\u6700\u9876\u5c42\u6807\u7b7e
          <link>\u548c<joint>\u6807\u7b7e\u90fd\u5fc5\u987b\u5305\u542b\u5728<robot>\u6807\u7b7e\u5185
          \u4e00\u4e2a\u5b8c\u6574\u7684\u673a\u5668\u4eba\u6a21\u578b\uff0c\u7531\u4e00\u7cfb\u5217<link>\u548c<joint>\u7ec4\u6210<\/p>\n\n\n\n
          <\/p>\n<\/details>\n\n\n\n
          \u4e00\u4e2a\u673a\u5668\u4eba\u7684\u793a\u4f8b\u5982\u4e0b\uff1a<\/p>\n\n\n\n
          <robot name=\"<name of the robot>\">\n    <link>......<\/link>\n    <link>......<\/link>\n    <joint>......<\/joint>\n    <joint>......<\/joint>\n<\/robot><\/code><\/pre>\n\n\n\n
          \u9047\u5230\u4e00\u4e2a\u673a\u5668\u4eba\uff0c\u5728\u770b\u4ee3\u7801\u524d\uff0c\u5e94\u8be5\u5148\u627elink\u548cjoint\uff0c\u518d\u53bb\u770b\u7ec6\u8282\u3002<\/p>\n\n\n\n
          <\/p>\n\n\n\n
          \u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u8bed\u53e5\u67e5\u770bURDF\u6a21\u578b\u7ed3\u6784\uff1a<\/p>\n\n\n\n
          urdf_to_graphviz mbot_base.urdf  # \u5728\u6a21\u578b\u6587\u4ef6\u5939\u4e0b\u8fd0\u884c<\/code><\/pre>\n\n\n\n
          <\/p>\n","protected":false},"excerpt":{"rendered":"
          \u673a\u5668\u4eba\u5efa\u6a21\u7684\u8fc7\u7a0b\uff0c\u5176\u5b9e\u5c31\u662f\u6309\u7167\u7c7b\u4f3c\u7684\u601d\u8def\uff0c\u901a\u8fc7\u5efa\u6a21\u8bed\u8a00\uff0c\u628a\u673a\u5668\u4eba\u6bcf\u4e00\u4e2a\u90e8\u5206\u90fd\u63cf\u8ff0\u6e05\u695a\uff0c\u518d\u7ec4\u5408\u8d77\u6765\u7684\u8fc7\u7a0b\u3002 RO […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[],"class_list":["post-168","post","type-post","status-publish","format-standard","hentry","category-ros2"],"_links":{"self":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/168","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/comments?post=168"}],"version-history":[{"count":2,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/168\/revisions"}],"predecessor-version":[{"id":173,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/168\/revisions\/173"}],"wp:attachment":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/media?parent=168"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/categories?post=168"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/tags?post=168"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}