{"id":188,"date":"2026-04-18T12:29:44","date_gmt":"2026-04-18T04:29:44","guid":{"rendered":"https:\/\/374969782.xyz\/?p=188"},"modified":"2026-04-18T12:29:46","modified_gmt":"2026-04-18T04:29:46","slug":"ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%8814%ef%bc%89-rviz%ef%bc%9a%e4%b8%89%e7%bb%b4%e5%8f%af%e8%a7%86%e5%8c%96%e6%98%be%e7%a4%ba%e5%b9%b3%e5%8f%b0","status":"publish","type":"post","link":"https:\/\/374969782.xyz\/index.php\/2026\/04\/18\/ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%8814%ef%bc%89-rviz%ef%bc%9a%e4%b8%89%e7%bb%b4%e5%8f%af%e8%a7%86%e5%8c%96%e6%98%be%e7%a4%ba%e5%b9%b3%e5%8f%b0\/","title":{"rendered":"ROS2\u5b66\u4e60\u8bb0\u5f55\uff0814\uff09-Rviz\uff1a\u4e09\u7ef4\u53ef\u89c6\u5316\u663e\u793a\u5e73\u53f0"},"content":{"rendered":"\n

Rviz\u662f\u4e00\u6b3e\u673a\u5668\u4eba\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u7684\u6570\u636e\u53ef\u89c6\u5316\u8f6f\u4ef6\uff0c\u7528\u4e8e\u53ef\u89c6\u5316\u673a\u5668\u4eba\u6a21\u578b\u3001\u4f20\u611f\u5668\u4fe1\u606f\u3001\u73af\u5883\u4fe1\u606f\u7b49\u7b49\u3002<\/p>\n\n\n\n

Rviz\u7684\u6838\u5fc3\u6846\u67b6\u662f\u57fa\u4e8eQt\u53ef\u89c6\u5316\u5de5\u5177<\/strong>\u6253\u9020\u7684\u4e00\u4e2a\u5f00\u653e\u5f0f\u5e73\u53f0\uff0c\u5b98\u65b9\u51fa\u5382\u5c31\u81ea\u5e26\u4e86\u5f88\u591a\u673a\u5668\u4eba\u5e38\u7528\u7684\u53ef\u89c6\u5316\u663e\u793a\u63d2\u4ef6\uff0c\u53ea\u8981\u6211\u4eec\u6309\u7167ROS\u4e2d\u7684\u6d88\u606f\u53d1\u5e03\u5bf9\u5e94\u7684\u8bdd\u9898\uff0c\u5c31\u53ef\u4ee5\u770b\u5230\u56fe\u5f62\u5316\u7684\u6548\u679c\u4e86\u3002\u5982\u679c\u6211\u4eec\u5bf9\u663e\u793a\u7684\u6548\u679c\u4e0d\u6ee1\u610f\uff0c\u6216\u8005\u60f3\u6dfb\u52a0\u67d0\u4e9b\u65b0\u7684\u663e\u793a\u9879\uff0c\u4e5f\u53ef\u4ee5\u5728Rviz\u8fd9\u4e2a\u5e73\u53f0\u4e2d\uff0c\u5f00\u53d1\u66f4\u591a\u53ef\u89c6\u5316\u6548\u679c\uff0c\u65b9\u4fbf\u6253\u9020\u6211\u4eec\u81ea\u5df1\u7684\u4e0a\u4f4d\u673a\u3002<\/p>\n\n\n\n

Rviz\u662f\u4e00\u6b3e\u4e09\u7ef4\u53ef\u89c6\u5316<\/strong>\u5de5\u5177\uff0c\u53ef\u4ee5\u5f88\u597d\u5730\u517c\u5bb9\u57fa\u4e8eROS\u8f6f\u4ef6\u6846\u67b6\u7684\u673a\u5668\u4eba\u5e73\u53f0\u3002<\/summary>\n

\u5728rviz\u4e2d\uff0c\u53ef\u4ee5\u4f7f\u7528\u53ef\u6269\u5c55\u6807\u8bb0\u8bed\u8a00XML\u5bf9\u673a\u5668\u4eba\u3001\u5468\u56f4\u7269\u4f53\u7b49\u4efb\u4f55\u5b9e\u7269\u8fdb\u884c\u5c3a\u5bf8\u3001\u8d28\u91cf\u3001\u4f4d\u7f6e\u3001\u6750\u8d28\u3001\u5173\u8282\u7b49\u5c5e\u6027\u7684\u63cf\u8ff0\uff0c\u5e76\u4e14\u5728\u754c\u9762\u4e2d\u5448\u73b0\u51fa\u6765<\/p>\n\n\n\n

\u540c\u65f6\uff0crviz\u8fd8\u53ef\u4ee5\u901a\u8fc7\u56fe\u5f62\u5316\u7684\u65b9\u5f0f\uff0c\u5b9e\u65f6\u663e\u793a\u673a\u5668\u4eba\u4f20\u611f\u5668\u7684\u4fe1\u606f\u3001\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u72b6\u6001\u3001\u5468\u56f4\u73af\u5883\u7684\u53d8\u5316\u7b49\u4fe1\u606f\u3002<\/p>\n\n\n\n

\u603b\u800c\u8a00\u4e4b\uff0crviz\u901a\u8fc7\u673a\u5668\u4eba\u6a21\u578b\u53c2\u6570\u3001\u673a\u5668\u4eba\u53d1\u5e03\u7684\u4f20\u611f\u4fe1\u606f\u7b49\u6570\u636e\uff0c\u4e3a\u7528\u6237\u8fdb\u884c\u6240\u6709\u53ef\u76d1\u6d4b\u4fe1\u606f\u7684\u56fe\u5f62\u5316\u663e\u793a\u3002\u7528\u6237\u548c\u5f00\u53d1\u8005\u4e5f\u53ef\u4ee5\u5728rviz\u7684\u63a7\u5236\u754c\u9762\u4e0b\uff0c\u901a\u8fc7\u6309\u94ae\u3001\u6ed1\u52a8\u6761\u3001\u6570\u503c\u7b49\u65b9\u5f0f\uff0c\u63a7\u5236\u673a\u5668\u4eba\u7684\u884c\u4e3a\u3002<\/p>\n\n\n\n

<\/p>\n<\/details>\n\n\n\n

\u53ea\u8981\u6709\u6570\u636e\uff0c\u5b83\u5c31\u53ef\u4ee5\u53ef\u89c6\u5316\u3002<\/p>\n\n\n\n

\u901a\u8fc7\u5728\u547d\u4ee4\u884c\u7a97\u53e3\u8f93\u5165\u4ee5\u4e0b\u6307\u4ee4\u53ef\u4ee5\u6253\u5f00rviz\uff1a<\/p>\n\n\n\n

ros2 run rviz2 rviz2<\/code><\/pre>\n\n\n\n
\u6253\u5f00rviz\u540e\uff0c\u53ef\u4ee5\u5728\u5de6\u4fa7\u680f\u5185\u6dfb\u52a0\u90e8\u4ef6\uff08\u5b98\u65b9\u63d0\u4f9b\u4e86\u5305\u62ec\u96f7\u8fbe\u3001\u6444\u50cf\u673a\u7b49\u8bf8\u591a\u90e8\u4ef6\u6a21\u677f\uff09\uff0c\u5e76\u4e3a\u90a3\u4e2a\u90e8\u4ef6\u8bbe\u7f6e\u8ba2\u9605\u7684\u8bdd\u9898\uff0c\u8fdb\u884c\u53ef\u89c6\u5316\u3002<\/p>\n\n\n\n
\u4e0b\u9762\u662f\u4e00\u4e2a\u793a\u4f8b\uff1a<\/p>\n\n\n\n
\u5148\u5b9a\u4e49\u4e00\u4e2a\u6444\u50cf\u673a\u4eff\u771f\uff1a<\/p>\n\n\n\n
<?xml version=\"1.0\"?>\n<robot xmlns:xacro=\"http:\/\/www.ros.org\/wiki\/xacro\" name=\"camera\">\n<!---->\n    <xacro:macro name=\"usb_camera\" params=\"prefix:=camera\">\n        <!-- Create laser reference frame -->\n        <link name=\"${prefix}_link\"> <!--\u76f8\u673alink-->\n            <inertial>\n                <mass value=\"0.1\" \/>\n                <origin xyz=\"0 0 0\" \/>\n                <inertia ixx=\"0.01\" ixy=\"0.0\" ixz=\"0.0\"\n                         iyy=\"0.01\" iyz=\"0.0\"\n                         izz=\"0.01\" \/>\n            <\/inertial>\n\n            <visual>\n                <origin xyz=\" 0 0 0 \" rpy=\"0 0 0\" \/>\n                <geometry>\n                    <box size=\"0.01 0.04 0.04\" \/> <!--box\u662f\u4e00\u4e2a\u7acb\u65b9\u4f53\uff0c\u540e\u9762\u53c2\u6570\u662f\u5c3a\u5bf8-->\n                <\/geometry>\n                <material name=\"black\"\/> <!--\u989c\u8272\u4e3a\u9ed1\u8272-->\n            <\/visual>\n\n            <collision>\n                <origin xyz=\"0.0 0.0 0.0\" rpy=\"0 0 0\" \/>\n                <geometry>\n                    <box size=\"0.01 0.04 0.04\" \/>\n                <\/geometry>\n            <\/collision>\n        <\/link>\n        <gazebo reference=\"${prefix}_link\"> <!--\u8c03\u7528gazebo\u76f8\u673a\u6e32\u67d3\u63d2\u4ef6\u7684\u90e8\u5206-->\n            <material>Gazebo\/Black<\/material>\n        <\/gazebo>\n\n        <gazebo reference=\"${prefix}_link\">\n            <sensor type=\"camera\" name=\"camera_node\">\n                <update_rate>30.0<\/update_rate> <!--\u5e27\u7387-->\n                <camera name=\"head\">\n                    <horizontal_fov>1.3962634<\/horizontal_fov> <!--\u53ef\u89c6\u89d2\u5ea6-->\n                    <image>\n                        <width>1280<\/width> <!--\u5206\u8fa8\u7387-->\n                        <height>720<\/height>\n                        <format>R8G8B8<\/format> <!--\u7f16\u7801\u683c\u5f0f-->\n                    <\/image>\n                    <clip>\n                        <near>0.02<\/near> <!--\u53ef\u4ee5\u770b\u5230\u7684\u6700\u8fd1\u8ddd\u79bb-->\n                        <far>300<\/far> <!--\u6700\u8fdc\u8ddd\u79bb-->\n                    <\/clip>\n                    <noise> <!--\u6a21\u4eff\u771f\u5b9e\u4f20\u611f\u5668\u7684\u566a\u58f0-->\n                        <type>gaussian<\/type>\n                        <mean>0.0<\/mean>\n                        <stddev>0.007<\/stddev>\n                    <\/noise>\n                <\/camera>\n                <plugin name=\"gazebo_camera\" filename=\"libgazebo_ros_camera.so\"> \n                    <!--\u8c03\u7528gazebo\u4e2d\u7684\u63d2\u4ef6\u5b9e\u73b0\u76f8\u673a\u529f\u80fd-->\n\t\t\t\t    <ros>\n\t\t\t\t        <!-- <namespace>stereo<\/namespace> -->\n\t\t\t\t        <remapping>~\/image_raw:=image_raw<\/remapping> \n                                            <!--\u901a\u8fc7\u8bdd\u9898\u53d1\u5e03\u6570\u636e-->\n\t\t\t\t        <remapping>~\/camera_info:=camera_info<\/remapping>\n\t\t\t\t    <\/ros>\n\t\t\t\t    <camera_name>${prefix}<\/camera_name> <!--\u76f8\u673a\u540d\u5b57-->\n\t\t\t\t    <frame_name>${prefix}_link<\/frame_name> \n                                        <!--\u5750\u6807\u7cfb\uff0c\u4e0e\u8fde\u6746\u540d\u5b57\u4e00\u6837-->\n\t\t\t\t    <hack_baseline>0.2<\/hack_baseline>\n                <\/plugin>\n            <\/sensor>\n        <\/gazebo>\n\n    <\/xacro:macro>\n<\/robot>\n<\/code><\/pre>\n\n\n\n
\u8be5\u6587\u4ef6\u5728\u4e0b\u9762\u7684\u603b\u6587\u4ef6\u91cc\u88ab\u8c03\u7528\uff1a<\/p>\n\n\n\n
<?xml version=\"1.0\"?>\n<robot name=\"mbot\" xmlns:xacro=\"http:\/\/www.ros.org\/wiki\/xacro\">\n<!---->\n\n    <xacro:include filename=\"$(find learning_gazebo)\/urdf\/mbot_base_gazebo.xacro\" \/>\n    <!--\u5f15\u7528\u673a\u5668\u4eba\u6a21\u578b\u6587\u4ef6-->\n    <xacro:include filename=\"$(find learning_gazebo)\/urdf\/sensors\/camera_gazebo.xacro\" \/>\n    <!--\u5f15\u7528\u76f8\u673a\u6a21\u578b\u6587\u4ef6-->\n\n    <!--\u4e09\u4e2a\u5e38\u91cf\u8868\u793a\u76f8\u673a\u4e0e\u673a\u5668\u4eba\u5e95\u76d8\u7684\u5173\u7cfb-->\n    <xacro:property name=\"camera_offset_x\" value=\"0.17\" \/> \n    <xacro:property name=\"camera_offset_y\" value=\"0\" \/>\n    <xacro:property name=\"camera_offset_z\" value=\"0.10\" \/>\n\n    <!-- Camera -->\n    <joint name=\"camera_joint\" type=\"fixed\"> <!--\u8fde\u63a5\u76f8\u673a\u548c\u5e95\u76d8\u7684joint-->\n        <origin xyz=\"${camera_offset_x} ${camera_offset_y} ${camera_offset_z}\" rpy=\"0 0 0\" \/>\n        <parent link=\"base_link\"\/>\n        <child link=\"camera_link\"\/>\n    <\/joint>\n\n    <xacro:usb_camera prefix=\"camera\"\/> <!--\u8c03\u7528\u76f8\u673a\u5b8f\u5b9a\u4e49-->\n\n    <xacro:mbot_base_gazebo\/> <!--\u8c03\u7528\u5e95\u76d8\u5b8f\u5b9a\u4e49-->\n\n<\/robot>\n<\/code><\/pre>\n\n\n\n
\u4f7f\u7528\u4e0a\u4e00\u671f\u7684\u4e24\u6761\u6307\u4ee4\u542f\u52a8\u4eff\u771f\u548c\u5c0f\u8f66\u63a7\u5236\uff1a<\/p>\n\n\n\n
ros2 launch learning_gazebo load_urdf_into_gazebo.launch.py\nros2 run teleop_twist_keyboard teleop_twist_keyboard <\/code><\/pre>\n\n\n\n
\u518d\u542f\u52a8rviz\uff1a<\/p>\n\n\n\n
ros2 run rviz2 rviz2<\/code><\/pre>\n\n\n\n
\u518d\u5230rviz\u5de6\u4fa7\u680fadd\u4e00\u4e2a\u65b0\u7684\u90e8\u4ef6\u201cImage\u201d\uff0c\u5e76\u53cc\u51fb\u5176topic\u503c\u8bbe\u7f6e\u4e3a\u201c\/camera\/image_raw\u201d\u3002<\/p>\n\n\n\n
\u8fd9\u65f6\u5019\u5c31\u80fd\u5728rviz\u91cc\u770b\u5230\u5c0f\u8f66\u6444\u50cf\u5934\u770b\u5230\u7684\u4e1c\u897f\u4e86\u3002\u540c\u65f6\uff0c\u901a\u8fc7\u6309\u952e\u63a7\u5236\u5c0f\u8f66\u79fb\u52a8\uff0c\u53ef\u4ee5\u770b\u5230\u56fe\u50cf\u4e5f\u4f1a\u8ddf\u968f\u53d8\u6362\u3002<\/p>\n\n\n\n
\u8fdb\u4e00\u6b65\uff0c\u8fd8\u53ef\u4ee5\u8fdb\u884c\u4e09\u7ef4\u76f8\u673a\u4eff\u771f\u4e0e\u53ef\u89c6\u5316\u3002<\/p>\n\n\n\n
\u4e09\u7ef4\u76f8\u673a\u4f7f\u7528\u7684Gazebo\u63d2\u4ef6\u4e5f\u662flibgazebo_ros_camera.so\uff0c\u914d\u7f6e\u7684xacro\u6587\u4ef6\u5982\u4e0b\uff1a<\/p>\n\n\n\n
<gazebo reference=\"${prefix}_link\">\n    <sensor type=\"depth\" name=\"${prefix}\"> <!--\u76f8\u673a\u7c7b\u578b\u662f\u201cdepth\u201d,\u4e00\u4e2a\u6df1\u5ea6\u76f8\u673a-->\n        <always_on>true<\/always_on>\n        <update_rate>15.0<\/update_rate> <!--\u66f4\u65b0\u9891\u7387\uff08\u8d6b\u5179\uff09\uff0c\u5927\u90e8\u5206\u8bbe\u7f6e\u548c\u666e\u901a\u76f8\u673a\u4e00\u6837-->\n        <pose>0 0 0 0 0 0<\/pose>\n        <camera name=\"kinect\">\n            <horizontal_fov>${60.0*M_PI\/180.0}<\/horizontal_fov>\n            <image>\n                <format>R8G8B8<\/format>\n                <width>640<\/width>\n                <height>480<\/height>\n            <\/image>\n            <clip>\n                <near>0.05<\/near>\n                <far>8.0<\/far>\n            <\/clip>\n        <\/camera>\n        <plugin name=\"${prefix}_controller\" filename=\"libgazebo_ros_camera.so\">\n            <ros>\n                <!-- <namespace>${prefix}<\/namespace> --> <!--\u4f20\u8f93\u5404\u79cd\u6570\u636e\u7684\u8bdd\u9898\u53ca\u5176\u91cd\u5b9a\u5411-->\n                <remapping>${prefix}\/image_raw:=rgb\/image_raw<\/remapping> <!--\u5f69\u8272\u56fe\u50cf\u8bdd\u9898-->\n                <remapping>${prefix}\/image_depth:=depth\/image_raw<\/remapping> <!--\u6df1\u5ea6\u8bdd\u9898-->\n                <remapping>${prefix}\/camera_info:=rgb\/camera_info<\/remapping>\n                <remapping>${prefix}\/camera_info_depth:=depth\/camera_info<\/remapping>\n                <remapping>${prefix}\/points:=depth\/points<\/remapping>\n            <\/ros>\n            <camera_name>${prefix}<\/camera_name>\n            <frame_name>${prefix}_frame_optical<\/frame_name> <!--kinect\u672c\u8eab\u5750\u6807\u7cfb\u4f5c\u53c2\u8003\u7cfb-->\n            <hack_baseline>0.07<\/hack_baseline>\n            <min_depth>0.001<\/min_depth>\n            <max_depth>300.0<\/max_depth>\n        <\/plugin>\n    <\/sensor>\n<\/gazebo><\/code><\/pre>\n\n\n\n
\u8fd0\u884c\u5b83\u7684axcro\u6587\u4ef6\u4e5f\u57fa\u672c\u548c\u666e\u901a\u76f8\u673a\u6ca1\u4ec0\u4e48\u533a\u522b\uff0c\u4fee\u6539\u4e00\u4e0b\u914d\u7f6e\u6587\u4ef6\u4e3a\u65b0\u6587\u4ef6\u548c\u4e00\u4e9b\u8bbe\u7f6e\u53c2\u6570\u5373\u53ef\u3002<\/p>\n\n\n\n
<?xml version=\"1.0\"?>\n<robot name=\"mbot\" xmlns:xacro=\"http:\/\/www.ros.org\/wiki\/xacro\">\n\n    <xacro:include filename=\"$(find learning_gazebo)\/urdf\/mbot_base_gazebo.xacro\" \/>\n    <xacro:include filename=\"$(find learning_gazebo)\/urdf\/sensors\/kinect_gazebo.xacro\" \/>\n    <!--kinect-->\n\n    <xacro:property name=\"kinect_offset_x\" value=\"0.15\" \/>\n    <xacro:property name=\"kinect_offset_y\" value=\"0\" \/>\n    <xacro:property name=\"kinect_offset_z\" value=\"0.11\" \/>\n\n    <!-- kinect -->\n    <joint name=\"kinect_joint\" type=\"fixed\"> <!--\u5b89\u88c5kinect\u7684joint-->\n        <origin xyz=\"${kinect_offset_x} ${kinect_offset_y} ${kinect_offset_z}\" rpy=\"0 0 0\" \/>\n        <parent link=\"base_link\"\/>\n        <child link=\"kinect_link\"\/>\n    <\/joint>\n\n    <xacro:kinect_camera prefix=\"kinect\"\/>\n\n    <xacro:mbot_base_gazebo\/> <!--\u4e24\u4e2a\u5b8f\u5b9a\u4e49-->\n\n<\/robot>\n<\/code><\/pre>\n\n\n\n
\u8fd9\u4e2a\u9700\u8981\u4f7f\u7528\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316\u3002<\/p>\n\n\n\n
\u5148\u7528\u4e4b\u524d\u540c\u6837\u7684\u547d\u4ee4\u6253\u5f00rviz\uff0c\u6b64\u5904\u4e0d\u518d\u91cd\u590d\u3002<\/p>\n\n\n\n
\u540c\u6837\u7684\u6d41\u7a0b\uff0c\u70b9\u51fbAdd\uff0c\u6dfb\u52a0PointCloud2\uff0c\u8bbe\u7f6e\u8ba2\u9605\u7684\u70b9\u4e91\u8bdd\u9898\uff0c\u8fd8\u8981\u914d\u7f6eRviz\u7684\u53c2\u8003\u7cfb\u662fodom\uff0c\u5c31\u53ef\u4ee5\u770b\u5230\u70b9\u4e91\u6570\u636e\u5566\uff0c\u6bcf\u4e00\u4e2a\u70b9\u90fd\u662f\u7531xyz\u4f4d\u7f6e\u548crgb\u989c\u8272\u7ec4\u6210\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u9664\u4e86\u6444\u50cf\u5934\u548c\u4e09\u7ef4\u76f8\u673a\uff0c\u6fc0\u5149\u96f7\u8fbe\u4e5f\u662f\u5f88\u591a\u79fb\u52a8\u673a\u5668\u4eba\u5e38\u5907\u7684\u4f20\u611f\u5668\u3002<\/p>\n\n\n\n
\u96f7\u8fbe\u4f7f\u7528\u7684Gazebo\u63d2\u4ef6\u662flibgazebo_ros_ray_sensor.so\uff0c\u914d\u7f6e\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n\n\n\n
<gazebo reference=\"${prefix}_link\">\n    <sensor type=\"ray\" name=\"rplidar\"> <!--\u7c7b\u578b\u4e3a\u7ea2\u5916-->\n        <update_rate>20<\/update_rate> <!--\u66f4\u65b0\u9891\u7387-->\n        <ray>\n            <scan>\n              <horizontal>\n                <samples>360<\/samples> <!--\u91c7\u96c6\u8303\u56f4\uff1a360\u5ea6--> \n                <resolution>1<\/resolution> <!--\u6bcf\u4e00\u5ea6\u91c7\u96c6\u4e00\u6b21-->\n                <min_angle>-3<\/min_angle> <!--\u6700\u5c0f\u89d2\u5ea6\uff08\u5f27\u5ea6\uff09-->\n                <max_angle>3<\/max_angle> <!--\u6700\u5927\u89d2\u5ea6\uff08\u5f27\u5ea6\uff09-->\n              <\/horizontal>\n            <\/scan>\n            <range>\n              <min>0.10<\/min> <!--\u6700\u8fd1\u4e0e\u6700\u8fdc\u8ddd\u79bb-->\n              <max>30.0<\/max>\n              <resolution>0.01<\/resolution> <!--\u5206\u8fa8\u7387\uff0c\u5355\u4f4d\u4e3a\u7c73-->\n            <\/range>\n            <noise>\n              <type>gaussian<\/type>\n              <mean>0.0<\/mean>\n              <stddev>0.01<\/stddev>\n            <\/noise>\n        <\/ray>\n        <plugin name=\"gazebo_rplidar\" filename=\"libgazebo_ros_ray_sensor.so\">\n      <ros>\n    <namespace>\/<\/namespace>\n    <remapping>~\/out:=scan<\/remapping> <!--\u6570\u636e\u4f20\u8f93\u7684\u8bdd\u9898-->\n      <\/ros>\n      <output_type>sensor_msgs\/LaserScan<\/output_type> <!--\u6d88\u606f\u7c7b\u578b-->\n        <\/plugin>\n    <\/sensor>\n<\/gazebo><\/code><\/pre>\n\n\n\n
\u4f7f\u7528\u4ee5\u4e0b\u6587\u4ef6\u5305\u542b\u5b83\uff1a<\/p>\n\n\n\n
<?xml version=\"1.0\"?>\n<robot name=\"mbot\" xmlns:xacro=\"http:\/\/www.ros.org\/wiki\/xacro\">\n\n    <xacro:include filename=\"$(find learning_gazebo)\/urdf\/mbot_base_gazebo.xacro\" \/>\n    <xacro:include filename=\"$(find learning_gazebo)\/urdf\/sensors\/lidar_gazebo.xacro\" \/>\n\n    <xacro:property name=\"lidar_offset_x\" value=\"0\" \/>\n    <xacro:property name=\"lidar_offset_y\" value=\"0\" \/>\n    <xacro:property name=\"lidar_offset_z\" value=\"0.105\" \/>\n\n    <!-- lidar -->\n    <joint name=\"lidar_joint\" type=\"fixed\">\n        <origin xyz=\"${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}\" rpy=\"0 0 0\" \/>\n        <parent link=\"base_link\"\/>\n        <child link=\"laser_link\"\/>\n    <\/joint>\n\n    <xacro:rplidar prefix=\"laser\"\/>\n\n    <xacro:mbot_base_gazebo\/>\n\n<\/robot>\n<\/code><\/pre>\n\n\n\n
\u8fd0\u884c\uff1a<\/p>\n\n\n\n
ros2 launch learning_gazebo load_mbot_laser_into_gazebo.launch.py<\/code><\/pre>\n\n\n\n
\u540c\u65f6\u6253\u5f00rviz\uff0c\u70b9\u51fbAdd\uff0c\u9009\u62e9Laserscan\uff0c\u7136\u540e\u914d\u7f6e\u8ba2\u9605\u7684\u8bdd\u9898\u540d\uff0crviz\u7684\u56fa\u5b9a\u5750\u6807\u7cfb\u4f9d\u7136\u662fodom\uff0c\u6b64\u65f6\u5c31\u53ef\u4ee5\u770b\u5230\u6fc0\u5149\u70b9\u5566\u3002<\/p>\n\n\n\n
<\/p>\n","protected":false},"excerpt":{"rendered":"
Rviz\u662f\u4e00\u6b3e\u673a\u5668\u4eba\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u7684\u6570\u636e\u53ef\u89c6\u5316\u8f6f\u4ef6\uff0c\u7528\u4e8e\u53ef\u89c6\u5316\u673a\u5668\u4eba\u6a21\u578b\u3001\u4f20\u611f\u5668\u4fe1\u606f\u3001\u73af\u5883\u4fe1\u606f\u7b49\u7b49\u3002 Rviz\u7684\u6838 […]<\/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-188","post","type-post","status-publish","format-standard","hentry","category-ros2"],"_links":{"self":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/188","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=188"}],"version-history":[{"count":7,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/188\/revisions"}],"predecessor-version":[{"id":195,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/188\/revisions\/195"}],"wp:attachment":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/media?parent=188"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/categories?post=188"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/tags?post=188"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}