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<!DOCTYPE HTML>
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<title>第 5 章 ROS常用组件 · GitBook</title>
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<input type="text" placeholder="Type to search" />
</div>
<nav role="navigation">
<ul class="summary">
<li class="chapter " data-level="1.1" data-path="./">
<a href="./">
Introduction
</a>
</li>
<li class="chapter " data-level="1.2" data-path="chapter1.html">
<a href="chapter1.html">
第 1 章 ROS概述与环境搭建
</a>
<ul class="articles">
<li class="chapter " data-level="1.2.1" data-path="chapter1/11-rosjian-jie-yu-an-zhuang.html">
<a href="chapter1/11-rosjian-jie-yu-an-zhuang.html">
1.1 ROS简介
</a>
<ul class="articles">
<li class="chapter " data-level="1.2.1.1" data-path="chapter1/11-rosjian-jie-yu-an-zhuang/111rosgai-nian.html">
<a href="chapter1/11-rosjian-jie-yu-an-zhuang/111rosgai-nian.html">
1.1.1ROS概念
</a>
</li>
<li class="chapter " data-level="1.2.1.2" data-path="chapter1/11-rosjian-jie-yu-an-zhuang/112rosshe-ji-mu-biao.html">
<a href="chapter1/11-rosjian-jie-yu-an-zhuang/112rosshe-ji-mu-biao.html">
1.1.2ROS设计目标
</a>
</li>
<li class="chapter " data-level="1.2.1.3" data-path="chapter1/11-rosjian-jie-yu-an-zhuang/113rosfa-zhan-li-cheng.html">
<a href="chapter1/11-rosjian-jie-yu-an-zhuang/113rosfa-zhan-li-cheng.html">
1.1.3ROS发展历程
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.2.2" data-path="chapter1/12-roskai-fa-gong-ju-an-zhuang.html">
<a href="chapter1/12-roskai-fa-gong-ju-an-zhuang.html">
1.2 ROS安装
</a>
<ul class="articles">
<li class="chapter " data-level="1.2.2.1" data-path="chapter1/12-roskai-fa-gong-ju-an-zhuang/121-an-zhuang-xu-ni-ji-ruan-jian.html">
<a href="chapter1/12-roskai-fa-gong-ju-an-zhuang/121-an-zhuang-xu-ni-ji-ruan-jian.html">
1.2.1 安装虚拟机软件
</a>
</li>
<li class="chapter " data-level="1.2.2.2" data-path="chapter1/12-roskai-fa-gong-ju-an-zhuang/122-xu-ni-yi-tai-zhu-ji.html">
<a href="chapter1/12-roskai-fa-gong-ju-an-zhuang/122-xu-ni-yi-tai-zhu-ji.html">
1.2.2 虚拟一台主机
</a>
</li>
<li class="chapter " data-level="1.2.2.3" data-path="chapter1/12-roskai-fa-gong-ju-an-zhuang/123-an-zhuang-ubuntu.html">
<a href="chapter1/12-roskai-fa-gong-ju-an-zhuang/123-an-zhuang-ubuntu.html">
1.2.3 安装 ubuntu
</a>
</li>
<li class="chapter " data-level="1.2.2.4" data-path="chapter1/12-roskai-fa-gong-ju-an-zhuang/124-an-zhuang-ros.html">
<a href="chapter1/12-roskai-fa-gong-ju-an-zhuang/124-an-zhuang-ros.html">
1.2.4 安装 ROS
</a>
</li>
<li class="chapter " data-level="1.2.2.5" data-path="chapter1/12-roskai-fa-gong-ju-an-zhuang/125-ce-shi-ros.html">
<a href="chapter1/12-roskai-fa-gong-ju-an-zhuang/125-ce-shi-ros.html">
1.2.5 测试 ROS
</a>
</li>
<li class="chapter " data-level="1.2.2.6" data-path="chapter1/12-roskai-fa-gong-ju-an-zhuang/127-zi-65993a-qi-ta-ros-ban-ben-an-zhuang.html">
<a href="chapter1/12-roskai-fa-gong-ju-an-zhuang/127-zi-65993a-qi-ta-ros-ban-ben-an-zhuang.html">
1.2.6 资料:其他ROS版本安装
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.2.3" data-path="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian.html">
<a href="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian.html">
1.3 ROS快速体验
</a>
<ul class="articles">
<li class="chapter " data-level="1.2.3.1" data-path="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian/131-helloworldshi-xian-jian-jie.html">
<a href="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian/131-helloworldshi-xian-jian-jie.html">
1.3.1 HelloWorld实现简介
</a>
</li>
<li class="chapter " data-level="1.2.3.2" data-path="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian/131-helloworldc724829.html">
<a href="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian/131-helloworldc724829.html">
1.3.2 HelloWorld实现A(C++)
</a>
</li>
<li class="chapter " data-level="1.2.3.3" data-path="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian/132-helloworldpython724829.html">
<a href="chapter1/13-rosji-cheng-kai-fa-huan-jing-da-jian/132-helloworldpython724829.html">
1.3.3 HelloWorld实现B(Python)
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.2.4" data-path="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian.html">
<a href="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian.html">
1.4 ROS集成开发环境搭建
</a>
<ul class="articles">
<li class="chapter " data-level="1.2.4.1" data-path="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian/141-an-zhuang-zhong-duan.html">
<a href="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian/141-an-zhuang-zhong-duan.html">
1.4.1 安装终端
</a>
</li>
<li class="chapter " data-level="1.2.4.2" data-path="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian/142-an-zhuang-vscode.html">
<a href="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian/142-an-zhuang-vscode.html">
1.4.2 安装VScode
</a>
</li>
<li class="chapter " data-level="1.2.4.3" data-path="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian/143-launchwen-jian-yan-shi.html">
<a href="chapter1/14-ros-ji-cheng-kai-fa-huan-jing-da-jian/143-launchwen-jian-yan-shi.html">
1.4.3 launch文件演示
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.2.5" data-path="chapter1/15-ben-zhang-xiao-jie.html">
<a href="chapter1/15-ben-zhang-xiao-jie.html">
1.5 ROS架构
</a>
<ul class="articles">
<li class="chapter " data-level="1.2.5.1" data-path="chapter1/15-ben-zhang-xiao-jie/151-roswen-jian-xi-tong.html">
<a href="chapter1/15-ben-zhang-xiao-jie/151-roswen-jian-xi-tong.html">
1.5.1 ROS文件系统
</a>
</li>
<li class="chapter " data-level="1.2.5.2" data-path="chapter1/15-ben-zhang-xiao-jie/152-ji-suan-tu.html">
<a href="chapter1/15-ben-zhang-xiao-jie/152-ji-suan-tu.html">
1.5.2 ROS文件系统相关命令
</a>
</li>
<li class="chapter " data-level="1.2.5.3" data-path="chapter1/15-ben-zhang-xiao-jie/153-rosji-suan-tu.html">
<a href="chapter1/15-ben-zhang-xiao-jie/153-rosji-suan-tu.html">
1.5.3 ROS计算图
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.2.6" data-path="chapter1/16-ben-zhang-xiao-jie.html">
<a href="chapter1/16-ben-zhang-xiao-jie.html">
1.6 本章小结
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.3" data-path="di-2-zhang-ros-jia-gou-she-ji.html">
<a href="di-2-zhang-ros-jia-gou-she-ji.html">
第 2 章 ROS通信机制
</a>
<ul class="articles">
<li class="chapter " data-level="1.3.1" data-path="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin.html">
2.1 话题通信
</a>
<ul class="articles">
<li class="chapter " data-level="1.3.1.1" data-path="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/211-li-lun-mo-xing.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/211-li-lun-mo-xing.html">
2.1.1 话题通信理论模型
</a>
</li>
<li class="chapter " data-level="1.3.1.2" data-path="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/212-hua-ti-tong-xin-zhi-c-shi-xian.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/212-hua-ti-tong-xin-zhi-c-shi-xian.html">
2.1.2 话题通信基本操作A(C++)
</a>
</li>
<li class="chapter " data-level="1.3.1.3" data-path="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/213-hua-ti-tong-xin-zhi-python-shi-xian.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/213-hua-ti-tong-xin-zhi-python-shi-xian.html">
2.1.3 话题通信基本操作B(Python)
</a>
</li>
<li class="chapter " data-level="1.3.1.4" data-path="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/214-hua-ti-tong-xin-zhi-zi-ding-yi-xiao-xi.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/214-hua-ti-tong-xin-zhi-zi-ding-yi-xiao-xi.html">
2.1.4 话题通信自定义msg
</a>
</li>
<li class="chapter " data-level="1.3.1.5" data-path="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/215-hua-ti-tong-xin-zhi-c-diao-yong-zi-ding-yi-xiao-xi.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/215-hua-ti-tong-xin-zhi-c-diao-yong-zi-ding-yi-xiao-xi.html">
2.1.5 话题通信自定义msg调用A(C++)
</a>
</li>
<li class="chapter " data-level="1.3.1.6" data-path="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/216-hua-ti-tong-xin-zhi-python-diao-yong-zi-ding-yi-xiao-xi.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/22hua-ti-tong-xin/216-hua-ti-tong-xin-zhi-python-diao-yong-zi-ding-yi-xiao-xi.html">
2.1.6 话题通信自定义msg调用B(Python)
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.3.2" data-path="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin.html">
2.2 服务通信
</a>
<ul class="articles">
<li class="chapter " data-level="1.3.2.1" data-path="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/221-fu-wu-tong-xin-li-lun-mo-xing.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/221-fu-wu-tong-xin-li-lun-mo-xing.html">
2.2.1 服务通信理论模型
</a>
</li>
<li class="chapter " data-level="1.3.2.2" data-path="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/222-fu-wu-tong-xin-zi-ding-yi-srv.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/222-fu-wu-tong-xin-zi-ding-yi-srv.html">
2.2.2 服务通信自定义srv
</a>
</li>
<li class="chapter " data-level="1.3.2.3" data-path="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/223-fu-wu-tong-xin-zi-ding-yi-srv-diao-yong-a-c-shi-73b029.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/223-fu-wu-tong-xin-zi-ding-yi-srv-diao-yong-a-c-shi-73b029.html">
2.2.3 服务通信自定义srv调用A(C++)
</a>
</li>
<li class="chapter " data-level="1.3.2.4" data-path="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/224-fu-wu-tong-xin-zi-ding-yi-srv-diao-yong-b-python.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/23-fu-wu-tong-xin/224-fu-wu-tong-xin-zi-ding-yi-srv-diao-yong-b-python.html">
2.2.4 服务通信自定义srv调用B(Python)
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.3.3" data-path="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi.html">
2.3 参数服务器
</a>
<ul class="articles">
<li class="chapter " data-level="1.3.3.1" data-path="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi/231-can-shu-fu-wu-qi-li-lun-mo-xing.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi/231-can-shu-fu-wu-qi-li-lun-mo-xing.html">
2.3.1 参数服务器理论模型
</a>
</li>
<li class="chapter " data-level="1.3.3.2" data-path="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi/232-can-shu-cao-zuo-a-c-++.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi/232-can-shu-cao-zuo-a-c-++.html">
2.3.2 参数操作A(C++)
</a>
</li>
<li class="chapter " data-level="1.3.3.3" data-path="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi/233-can-shu-caozuo-b-python.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-can-shu-fu-wu-qi/233-can-shu-caozuo-b-python.html">
2.3.3 参数操作B(Python)
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.3.4" data-path="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling.html">
2.4 常用命令
</a>
<ul class="articles">
<li class="chapter " data-level="1.3.4.1" data-path="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/241-rostopic.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/241-rostopic.html">
2.4.1 rosnode
</a>
</li>
<li class="chapter " data-level="1.3.4.2" data-path="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/242-rostopic.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/242-rostopic.html">
2.4.2 rostopic
</a>
</li>
<li class="chapter " data-level="1.3.4.3" data-path="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/243-rosservice.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/243-rosservice.html">
2.4.3 rosservice
</a>
</li>
<li class="chapter " data-level="1.3.4.4" data-path="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/244-rosmsg.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/244-rosmsg.html">
2.4.4 rosmsg
</a>
</li>
<li class="chapter " data-level="1.3.4.5" data-path="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/245-rossrv.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/245-rossrv.html">
2.4.5 rossrv
</a>
</li>
<li class="chapter " data-level="1.3.4.6" data-path="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/246-rosparam.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/24-chang-yong-ming-ling/246-rosparam.html">
2.4.6 rosparam
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.3.5" data-path="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao.html">
2.5 通信机制实操
</a>
<ul class="articles">
<li class="chapter " data-level="1.3.5.1" data-path="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/251-shi-cao-01-hua-ti.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/251-shi-cao-01-hua-ti.html">
2.5.1 实操01_话题发布
</a>
</li>
<li class="chapter " data-level="1.3.5.2" data-path="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/252-shi-cao-02-hua-ti-ding-yue.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/252-shi-cao-02-hua-ti-ding-yue.html">
2.5.2 实操02_话题订阅
</a>
</li>
<li class="chapter " data-level="1.3.5.3" data-path="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/253-shi-cao-03-fu-wu-diao-yong.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/253-shi-cao-03-fu-wu-diao-yong.html">
2.5.3 实操03_服务调用
</a>
</li>
<li class="chapter " data-level="1.3.5.4" data-path="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/254-shi-cao-04-can-shu-she-zhi.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/25-tong-xin-ji-zhi-shi-cao/254-shi-cao-04-can-shu-she-zhi.html">
2.5.4 实操04_参数设置
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.3.6" data-path="di-2-zhang-ros-jia-gou-she-ji/26-tong-xin-ji-zhi-bi-jiao.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/26-tong-xin-ji-zhi-bi-jiao.html">
2.6 通信机制比较
</a>
</li>
<li class="chapter " data-level="1.3.7" data-path="di-2-zhang-ros-jia-gou-she-ji/27-ben-zhang-xiao-jie.html">
<a href="di-2-zhang-ros-jia-gou-she-ji/27-ben-zhang-xiao-jie.html">
2.7 本章小结
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.4" data-path="di-3-zhang-ros-chang-yong-zu-jian.html">
<a href="di-3-zhang-ros-chang-yong-zu-jian.html">
第 3 章 ROS通信机制进阶
</a>
<ul class="articles">
<li class="chapter " data-level="1.4.1" data-path="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin.html">
<a href="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin.html">
3.1 action通信
</a>
<ul class="articles">
<li class="chapter " data-level="1.4.1.1" data-path="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/311-actiontong-xin-zi-ding-yi-action-wen-jian.html">
<a href="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/311-actiontong-xin-zi-ding-yi-action-wen-jian.html">
3.1.1 action通信自定义action文件
</a>
</li>
<li class="chapter " data-level="1.4.1.2" data-path="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/312-actiontong-xin-zi-ding-yi-action-wen-jian-diao-yong-a-c-++.html">
<a href="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/312-actiontong-xin-zi-ding-yi-action-wen-jian-diao-yong-a-c-++.html">
3.1.2 action通信自定义action文件调用A(C++)
</a>
</li>
<li class="chapter " data-level="1.4.1.3" data-path="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/313-actiontong-xin-zi-ding-yi-action-wen-jian-diao-752828-python.html">
<a href="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/313-actiontong-xin-zi-ding-yi-action-wen-jian-diao-752828-python.html">
3.1.3 action通信自定义action文件调用(Python)
</a>
</li>
<li class="chapter " data-level="1.4.1.4" data-path="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/314-actiontong-xin-shi-cao.html">
<a href="di-3-zhang-ros-chang-yong-zu-jian/31-actiontong-xin/314-actiontong-xin-shi-cao.html">
3.1.4 action通信实操
</a>
</li>
</ul>
</li>
<li class="chapter " data-level="1.4.2" data-path="di-3-zhang-ros-chang-yong-zu-jian/32-dong-tai-pei-zhi-can-shu.html">
<a href="di-3-zhang-ros-chang-yong-zu-jian/32-dong-tai-pei-zhi-can-shu.html">
3.2 动态配置参数