{"id":180,"date":"2025-11-26T09:40:09","date_gmt":"2025-11-26T01:40:09","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&#038;p=180"},"modified":"2026-03-09T14:37:55","modified_gmt":"2026-03-09T06:37:55","slug":"%e6%97%a0%e4%ba%ba%e6%9c%ba%e5%ae%9a%e7%82%b9%e6%93%8d%e4%bd%9c%e6%b5%81%e7%a8%8b%ef%bc%88%e5%9d%90%e6%a0%87%e7%a1%ae%e8%ae%a4-%e6%89%8b%e5%8a%a8%e9%a3%9e%e8%a1%8c%ef%bc%89","status":"publish","type":"docs","link":"https:\/\/docs.liuyaorobot.com\/?docs=%e6%89%8b%e5%8a%a8%e9%a3%9e%e8%a1%8c%e5%8f%8a%e8%87%aa%e5%8a%a8%e6%8e%a7%e5%88%b6%e9%a3%9e%e8%a1%8c\/%e6%97%a0%e4%ba%ba%e6%9c%ba%e5%ae%9a%e7%82%b9%e6%93%8d%e4%bd%9c%e6%b5%81%e7%a8%8b%ef%bc%88%e5%9d%90%e6%a0%87%e7%a1%ae%e8%ae%a4-%e6%89%8b%e5%8a%a8%e9%a3%9e%e8%a1%8c%ef%bc%89","title":{"rendered":"\u65e0\u4eba\u673a\u5b9a\u70b9\u64cd\u4f5c\u6d41\u7a0b\uff08\u5750\u6807\u786e\u8ba4\uff09"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u5750\u6807\u786e\u8ba4<\/h2>\n\n\n\n<p>1.\u6253\u5f00\u9065\u63a7\u5668\u7535\u6e90\u3001\u63a5\u901a\u65e0\u4eba\u673a\u7535\u6e90\uff0c\u786e\u8ba4\u65e0\u4eba\u673a\u8fde\u63a5\u5230\u624b\u673a\u70ed\u70b9\u540e\u5efa\u7acbssh\u8fde\u63a5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"933\" height=\"831\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35.png\" alt=\"\" class=\"wp-image-161\" style=\"width:619px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35.png 933w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35-300x267.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35-768x684.png 768w\" sizes=\"auto, (max-width: 933px) 100vw, 933px\" \/><\/figure>\n\n\n\n<p>2.\u5c06\u98de\u884c\u5668\u653e\u7f6e\u5728\u573a\u5730\u8d77\u98de\u70b9\uff0c\u5e76\u4e14\u786e\u4fdd\u5df2\u7ecf\u62c6\u5378\u6868\u53f6\uff0c\u786e\u4fdd\u98de\u884c\u5668\u65b9\u5411\u548c\u4f4d\u7f6e\u5b8c\u5168\u51c6\u786e\u540e\u5f00\u59cb\u4e0b\u4e00\u6b65\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/110844b9935c5abc2946367466ed4467-1024x768.jpg\" alt=\"\" class=\"wp-image-162\" style=\"width:620px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/110844b9935c5abc2946367466ed4467-1024x768.jpg 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/110844b9935c5abc2946367466ed4467-300x225.jpg 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/110844b9935c5abc2946367466ed4467-768x576.jpg 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/110844b9935c5abc2946367466ed4467-1536x1152.jpg 1536w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/110844b9935c5abc2946367466ed4467.jpg 1706w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>3.\u5206\u522b\u542f\u52a8\u4e09\u4e2assh\u8fde\u63a5\u540e\u7684\u7ec8\u7aef\uff0c\u4f9d\u6b21\u5206\u522b\u8f93\u5165\u540e\u56de\u8f66\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_basic mavros.launch<br>roslaunch tutorial_navigation mid360.launch<br>rostopic echo \/mavros\/local_position\/pose<\/pre>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"854\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-1024x854.png\" alt=\"\" class=\"wp-image-158\" style=\"width:786px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-1024x854.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-300x250.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-768x640.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-1536x1281.png 1536w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32.png 1608w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>4.\u89c2\u5bdfssh\u7ec8\u7aef\u4e09\u4e2d\u8f93\u51fa\u7684\u98de\u884c\u5668\u4f4d\u7f6e\u4e0e\u59ff\u6001\u4fe1\u606f\uff08\u786e\u4fdd\u6570\u636e\u4e00\u76f4\u5728\u5237\u65b0\uff0c\u5426\u5219\u9700\u8981\u91cd\u65b0\u5f00\u59cb3\u6b65\u9aa4\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"857\" data-id=\"159\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33-1024x857.png\" alt=\"\" class=\"wp-image-159\" style=\"width:786px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33-1024x857.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33-300x251.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33-768x643.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33-1536x1286.png 1536w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33.png 1608w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>5.\u5c06\u98de\u673a\u62ff\u5230\u5f85\u6d4b\u7684\u822a\u70b9\u3002<\/p>\n\n\n\n<p><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color 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sizes=\"auto, (max-width: 816px) 100vw, 816px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u624b\u52a8\u98de\u884c<\/h2>\n\n\n\n<p>1.\u6253\u5f00\u9065\u63a7\u5668\u7535\u6e90\u3001\u63a5\u901a\u65e0\u4eba\u673a\u7535\u6e90\uff0c\u786e\u8ba4\u65e0\u4eba\u673a\u8fde\u63a5\u5230\u624b\u673a\u70ed\u70b9\u540e\u5efa\u7acbssh\u8fde\u63a5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"933\" height=\"831\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35.png\" alt=\"\" class=\"wp-image-161\" style=\"width:619px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35.png 933w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35-300x267.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-35-768x684.png 768w\" sizes=\"auto, (max-width: 933px) 100vw, 933px\" \/><\/figure>\n\n\n\n<p>2.\u5c06\u98de\u884c\u5668\u653e\u7f6e\u5728\u573a\u5730\u8d77\u98de\u70b9\uff0c\u786e\u4fdd\u6868\u53f6\u65b9\u5411\u6b63\u786e\uff0c\u5e76\u4e14\u786e\u4fdd\u9065\u63a7\u5668\u5f00\u673a\uff0c\u786e\u4fdd\u98de\u884c\u5668\u65b9\u5411\u548c\u4f4d\u7f6e\u5b8c\u5168\u51c6\u786e\u540e\u5f00\u59cb\u4e0b\u4e00\u6b65\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"886\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39-1024x886.png\" alt=\"\" class=\"wp-image-172\" style=\"width:714px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39-1024x886.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39-300x260.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39-768x664.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39.png 1068w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>3.\u5206\u522b\u542f\u52a8\u4e24\u4e2assh\u8fde\u63a5\u540e\u7684\u7ec8\u7aef\uff0c\u4f9d\u6b21\u5206\u522b\u8f93\u5165\u540e\u56de\u8f66\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_basic mavros.launch<br>roslaunch tutorial_navigation mid360.launch<\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"353\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-38-1024x353.png\" alt=\"\" class=\"wp-image-171\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-38-1024x353.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-38-300x103.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-38-768x265.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-38-1536x529.png 1536w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-38.png 1767w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>4.\u68c0\u67e5\u7535\u6c60\u7535\u91cf\u662f\u5426\u5145\u8db3\uff0c\u5982\u7535\u91cf\u5145\u8db3\u5219\u957f\u6309\u65e0\u4eba\u673a\u89e3\u9501\u6309\u94ae\uff0c\u7b49\u5f85\u53d1\u51fa\u5600\u5600\u5600\u7684\u89e3\u9501\u63d0\u793a\u58f0\u97f3<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"886\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-40-1024x886.png\" alt=\"\" class=\"wp-image-173\" style=\"width:596px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-40-1024x886.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-40-300x260.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-40-768x664.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-40.png 1068w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>5.\u6309\u4e0b\u65e0\u4eba\u673a\u6a21\u5f0f\u5207\u6362\u6309\u94ae\u628a\u65e0\u4eba\u673a\u5207\u6362\u4e3a\u5b9a\u70b9\u98de\u884c\u6a21\u5f0f\uff0c\u6309\u4e0b\u5f00\u5173\u9884\u89e3\u9501\u65e0\u4eba\u673a\uff0c\u5411\u53f3\u4e0b\u6253\u6cb9\u95e8\u6746\u89e3\u9501\u65e0\u4eba\u673a\uff0c\u968f\u540e\u5f00\u59cb\u98de\u884c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"994\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-41-1024x994.png\" alt=\"\" class=\"wp-image-174\" style=\"width:637px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-41-1024x994.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-41-300x291.png 300w, 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