[{"data":1,"prerenderedAt":361},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi":3,"wiki-doc-items-2023-12-30-ros2-tutorial":65},{"id":4,"title":5,"body":6,"chapterDepth":51,"chapterOrder":52,"date":53,"description":15,"docKey":54,"docRoot":55,"docTitle":56,"extension":57,"isWikiDoc":58,"isWikiIndex":59,"meta":60,"navigation":58,"path":61,"seo":62,"stem":63,"wikiDepth":51,"__hash__":64},"wiki\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-坐标系与话题关系.md","坐标系与话题关系",{"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坐标系"," 不是固定不动的，原点是机器人的初始位置。",[10,28,29,32],{},[23,30,31],{},"base_link坐标系"," 是机器人本体的坐标系，固定在机器人中心（如底盘）。当机器人移动时，\u002Fodom话题发布机器人运动数据，base_link坐标系会相对于odom坐标系移动。",[10,34,35,38],{},[23,36,37],{},"laser_link和imu_link等坐标系"," 和base_link之间的位置是静态的，所以当base_link移动了，其他子坐标系也会跟随移动。",[10,40,41],{},"odom坐标系是根据机器人电机编码器或者里程计反馈回来的数据预估的机器人出发时的位置，一般都会浮动。",[10,43,44],{},"map坐标系是通过算法用激光雷达等传感器预估出来的机器人出发时的位置。",[10,46,47],{},"但是由于建议使用树形TF，所以我们通常将map坐标系作为根坐标系，所以此时map在rviz2里是不动的，odom作为map坐标系的下行坐标系。（可以听一下赵老师ROS1的课程，这里讲的很好）",{"title":15,"searchDepth":49,"depth":49,"links":50},2,[],1,"1400-0700","2023-12-30","2023-12-30-ros2-tutorial","\u002Fwiki\u002F2023-12-30-ros2-tutorial","Ros2 Tutorial","md",true,false,{},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-zuo-biao-xi-yu-hua-ti-guan-xi",{"title":5,"description":15},"wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0700-坐标系与话题关系","bPHVcxzZ7gEl8SDiVp3Ov6ai_7_34txSqSfpBPZFQOM",[66,72,77,82,87,92,97,102,107,112,117,122,127,132,137,142,147,152,157,162,167,172,177,182,187,192,196,201,205,210,215,220,225,230,235,240,245,250,255,260,265,270,275,280,285,290,291,297,302,307,312,317,322,327,332,337,342,347,352,357],{"path":67,"stem":68,"title":69,"date":53,"chapterOrder":70,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0100-ros2-jie-shao","wiki\u002F2023-12-30-ros2-tutorial\u002F0100-ROS2介绍","ROS2介绍","0100",0,{"path":73,"stem":74,"title":75,"date":53,"chapterOrder":76,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0200-ru-men-cao-zuo","wiki\u002F2023-12-30-ros2-tutorial\u002F0200-入门操作","入门操作","0200",{"path":78,"stem":79,"title":80,"date":53,"chapterOrder":81,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0300-gong-zuo-kong-jian-yu-gong-neng-bao","wiki\u002F2023-12-30-ros2-tutorial\u002F0300-工作空间与功能包","工作空间与功能包","0300",{"path":83,"stem":84,"title":85,"date":53,"chapterOrder":86,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0400-si-da-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F0400-四大通信","四大通信","0400",{"path":88,"stem":89,"title":90,"date":53,"chapterOrder":91,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0500-ros2-qi-ta-tong-xin-ji-zhi","wiki\u002F2023-12-30-ros2-tutorial\u002F0500-ROS2其他通信机制","ROS2其他通信机制","0500",{"path":93,"stem":94,"title":95,"date":53,"chapterOrder":96,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0600-launch","wiki\u002F2023-12-30-ros2-tutorial\u002F0600-Launch","Launch","0600",{"path":98,"stem":99,"title":100,"date":53,"chapterOrder":101,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0700-hui-su-rosbag2","wiki\u002F2023-12-30-ros2-tutorial\u002F0700-回溯rosbag2","回溯rosbag2","0700",{"path":103,"stem":104,"title":105,"date":53,"chapterOrder":106,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0800-zuo-biao-bian-huan-tf","wiki\u002F2023-12-30-ros2-tutorial\u002F0800-坐标变换TF","坐标变换TF","0800",{"path":108,"stem":109,"title":110,"date":53,"chapterOrder":111,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F0900-ke-shi-hua-ping-tai-rviz2-yu-urdf-jian-mo-yu-yan","wiki\u002F2023-12-30-ros2-tutorial\u002F0900-可视化平台RVIZ2与URDF建模语言","可视化平台RVIZ2与URDF建模语言","0900",{"path":113,"stem":114,"title":115,"date":53,"chapterOrder":116,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1000-stage-ros2-fang-zhen-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1000-Stage_Ros2仿真平台","Stage_Ros2仿真平台","1000",{"path":118,"stem":119,"title":120,"date":53,"chapterOrder":121,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-gazeboclassic","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0100-GazeboClassic","Gezebo Classic","1100-0100",{"path":123,"stem":124,"title":125,"date":53,"chapterOrder":126,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-ignitiongazebo","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-IgnitionGazebo","Ignition Gazebo（Gazebo Fortress）","1100-0200",{"path":128,"stem":129,"title":130,"date":53,"chapterOrder":131,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-gazebosim","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-GazeboSim","Gz Sim（Gazebo Harmonic）","1100-0300",{"path":133,"stem":134,"title":135,"date":53,"chapterOrder":136,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-igngz2gzsim","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-0400-Igngz2gzsim","将Ign Gazebo迁移至Gz Sim","1100-0400",{"path":138,"stem":139,"title":140,"date":53,"chapterOrder":141,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-gezebo-fang-zhen-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1100-Gezebo仿真平台","Gezebo仿真平台","1100",{"path":143,"stem":144,"title":145,"date":53,"chapterOrder":146,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-humble-ban-ben","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-0100-Humble版本","Humble导航仿真","1200-0100",{"path":148,"stem":149,"title":150,"date":53,"chapterOrder":151,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-jazzy-ban-ben","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-0200-Jazzy版本","Jazzy导航仿真","1200-0200",{"path":153,"stem":154,"title":155,"date":53,"chapterOrder":156,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-humble2jazzy","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-0300-Humble2Jazzy","Humble与Jazzy导航的差异","1200-0300",{"path":158,"stem":159,"title":160,"date":53,"chapterOrder":161,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-ji-qi-ren-dao-hang-navigation2-fang-zhen-pian","wiki\u002F2023-12-30-ros2-tutorial\u002F1200-机器人导航Navigation2(仿真篇)","机器人导航Navigation2(仿真篇)","1200",{"path":163,"stem":164,"title":165,"date":53,"chapterOrder":166,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-boost-aiso","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0100-Boost.Aiso","Boost.Asio库","1300-0100-0100",{"path":168,"stem":169,"title":170,"date":53,"chapterOrder":171,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2_serial_driver","ROS2 Serial Driver库","1300-0100-0200",{"path":173,"stem":174,"title":175,"date":53,"chapterOrder":176,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-chuan-kou-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-串口通信","UART串口通信","1300-0100",{"path":178,"stem":179,"title":180,"date":53,"chapterOrder":181,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0100-socketcan","SocketCAN","1300-0200-0100",{"path":183,"stem":184,"title":185,"date":53,"chapterOrder":186,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2-socketcan","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-0200-ros2_socketcan","ROS2_SocketCAN","1300-0200-0200",{"path":188,"stem":189,"title":190,"date":53,"chapterOrder":191,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-can-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0200-CAN通信","CAN通信","1300-0200",{"path":193,"stem":194,"title":165,"date":53,"chapterOrder":195,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-boost-aiso","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-0100-Boost.Aiso","1300-0300-0100",{"path":197,"stem":198,"title":199,"date":53,"chapterOrder":200,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-tcp-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0300-TCP通信","TCP通信","1300-0300",{"path":202,"stem":203,"title":165,"date":53,"chapterOrder":204,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-boost-aiso","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-0100-Boost.Aiso","1300-0400-0100",{"path":206,"stem":207,"title":208,"date":53,"chapterOrder":209,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-udp-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-0400-UDP通信","UDP通信","1300-0400",{"path":211,"stem":212,"title":213,"date":53,"chapterOrder":214,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-linux-ying-jian-tong-xin","wiki\u002F2023-12-30-ros2-tutorial\u002F1300-Linux硬件通信","Linux硬件通信","1300",{"path":216,"stem":217,"title":218,"date":53,"chapterOrder":219,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-ji-qi-ren-zu-cheng","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0100-机器人组成","机器人组成","1400-0100",{"path":221,"stem":222,"title":223,"date":53,"chapterOrder":224,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-yuan-cheng-kai-fa-ssh","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0100-远程开发SSH","远程开发SSH","1400-0200-0100",{"path":226,"stem":227,"title":228,"date":53,"chapterOrder":229,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0200-yuan-cheng-fang-wen-zhuo-mian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-0200-远程访问桌面","远程访问桌面","1400-0200-0200",{"path":231,"stem":232,"title":233,"date":53,"chapterOrder":234,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-gong-kong-ji-zhi-yuan-cheng-kai-fa-huan-jing","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0200-工控机之远程开发环境","工控机之远程开发环境","1400-0200",{"path":236,"stem":237,"title":238,"date":53,"chapterOrder":239,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0300-gong-kong-ji-zhi-wai-jie-usb-she-bei","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0300-工控机之外接USB设备","工控机之外接USB设备","1400-0300",{"path":241,"stem":242,"title":243,"date":53,"chapterOrder":244,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-fen-bu-shi-da-jian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0400-分布式搭建","分布式搭建","1400-0400",{"path":246,"stem":247,"title":248,"date":53,"chapterOrder":249,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-you-hua-ri-zhi","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0500-优化日志","优化日志","1400-0500",{"path":251,"stem":252,"title":253,"date":53,"chapterOrder":254,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-里程计Odom","里程计Odom","1400-0600-0100",{"path":256,"stem":257,"title":258,"date":53,"chapterOrder":259,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-guan-xing-ji-imu","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0200-惯性计IMU","惯性计IMU","1400-0600-0200",{"path":261,"stem":262,"title":263,"date":53,"chapterOrder":264,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-ji-guang-lei-da-lidar","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0300-激光雷达LiDAR","激光雷达LiDAR","1400-0600-0300",{"path":266,"stem":267,"title":268,"date":53,"chapterOrder":269,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-xiang-ji-camera","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0400-相机Camera","相机Camera","1400-0600-0400",{"path":271,"stem":272,"title":273,"date":53,"chapterOrder":274,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-quan-qiu-ding-wei-gnss","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0500-全球定位GNSS","全球定位GNSS","1400-0600-0500",{"path":276,"stem":277,"title":278,"date":53,"chapterOrder":279,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-shou-bing-joy","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-手柄joy","手柄JOY","1400-0600-0600",{"path":281,"stem":282,"title":283,"date":53,"chapterOrder":284,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-jian-pan-kong-zhi-jie-dian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-键盘控制节点","键盘控制节点","1400-0600-0700",{"path":286,"stem":287,"title":288,"date":53,"chapterOrder":289,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-ying-jian-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-硬件平台","硬件平台","1400-0600",{"path":61,"stem":63,"title":5,"date":53,"chapterOrder":52,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},{"path":292,"stem":293,"title":294,"date":53,"chapterOrder":295,"chapterDepth":296,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0100-lun-shi-li-cheng-ji-biao-ding","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0100-轮式里程计标定","轮式里程计标定","1400-0800-0100-0100",3,{"path":298,"stem":299,"title":300,"date":53,"chapterOrder":301,"chapterDepth":296,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0200-lun-shi-li-cheng-ji-yu-imu-rong-he","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-0200-轮式里程计与IMU融合","轮式里程计与IMU融合","1400-0800-0100-0200",{"path":303,"stem":304,"title":305,"date":53,"chapterOrder":306,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-lun-shi-li-cheng-ji-biao-ding-yu-rong-he","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0100-轮式里程计标定与融合","轮式里程计标定与融合","1400-0800-0100",{"path":308,"stem":309,"title":310,"date":53,"chapterOrder":311,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0200-ji-guang-lei-da-gong-ju","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0200-激光雷达工具","激光雷达工具","1400-0800-0200",{"path":313,"stem":314,"title":315,"date":53,"chapterOrder":316,"chapterDepth":49,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0300-xiang-ji-shi-yong-jin-jie","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-0300-相机使用进阶","相机使用进阶","1400-0800-0300",{"path":318,"stem":319,"title":320,"date":53,"chapterOrder":321,"chapterDepth":51,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-ying-jian-ping-tai-jin-jie","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-0800-硬件平台进阶","硬件平台进阶","1400-0800",{"path":323,"stem":324,"title":325,"date":53,"chapterOrder":326,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-ji-qi-ren-ying-jian","wiki\u002F2023-12-30-ros2-tutorial\u002F1400-机器人硬件","机器人硬件","1400",{"path":328,"stem":329,"title":330,"date":53,"chapterOrder":331,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1500-ros2-control","wiki\u002F2023-12-30-ros2-tutorial\u002F1500-ROS2_Control","ROS2_Control","1500",{"path":333,"stem":334,"title":335,"date":53,"chapterOrder":336,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1600-moveit2-gong-ye-ji-qi-ren-ji-xie-bi","wiki\u002F2023-12-30-ros2-tutorial\u002F1600-Moveit2工业机器人机械臂","Moveit2工业机器人机械臂","1600",{"path":338,"stem":339,"title":340,"date":53,"chapterOrder":341,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1700-ji-qi-ren-dao-hang-navigation2-shi-ti-pian","wiki\u002F2023-12-30-ros2-tutorial\u002F1700-机器人导航Navigation2(实体篇)","机器人导航Navigation2(实体篇)","1700",{"path":343,"stem":344,"title":345,"date":53,"chapterOrder":346,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1800-microros","wiki\u002F2023-12-30-ros2-tutorial\u002F1800-MicroROS","MicroROS","1800",{"path":348,"stem":349,"title":350,"date":53,"chapterOrder":351,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1900-webots-fang-zhen-ping-tai","wiki\u002F2023-12-30-ros2-tutorial\u002F1900-Webots仿真平台","Webots仿真平台","1900",{"path":353,"stem":354,"title":355,"date":53,"chapterOrder":356,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":59},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F2000-opencv","wiki\u002F2023-12-30-ros2-tutorial\u002F2000-OpenCV","OpenCV","2000",{"path":55,"stem":358,"title":359,"date":53,"chapterOrder":360,"chapterDepth":71,"docKey":54,"docRoot":55,"docTitle":56,"isWikiDoc":58,"isWikiIndex":58},"wiki\u002F2023-12-30-ros2-tutorial\u002Findex","ROS2机器人操作系统教程",null,1784505231886]