{"id":182,"date":"2025-11-26T09:40:58","date_gmt":"2025-11-26T01:40:58","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&p=182"},"modified":"2026-03-09T14:17:53","modified_gmt":"2026-03-09T06:17:53","slug":"%e6%97%a0%e4%ba%ba%e6%9c%ba%e9%a3%9e%e8%a1%8c%e6%97%b6%e8%bf%9c%e7%a8%8b%e5%91%bd%e4%bb%a4%e5%90%af%e5%8a%a8%e6%ad%a3%e7%a1%ae%e6%96%b9%e6%b3%95%e3%80%8c%e9%87%8d%e8%a6%81%e3%80%8d","status":"publish","type":"docs","link":"https:\/\/docs.liuyaorobot.com\/?docs=%e8%bd%af%e7%a1%ac%e4%bb%b6%e8%bd%af%e7%a1%ac%e4%bb%b6%e7%8e%af%e5%a2%83%e5%8f%8a%e8%bf%9c%e7%a8%8b%e6%96%b9%e6%a1%88%e8%bd%af%e7%a1%ac%e4%bb%b6\/%e6%97%a0%e4%ba%ba%e6%9c%ba%e9%a3%9e%e8%a1%8c%e6%97%b6%e8%bf%9c%e7%a8%8b%e5%91%bd%e4%bb%a4%e5%90%af%e5%8a%a8%e6%ad%a3%e7%a1%ae%e6%96%b9%e6%b3%95%e3%80%8c%e9%87%8d%e8%a6%81%e3%80%8d","title":{"rendered":"\u65e0\u4eba\u673a\u98de\u884c\u65f6\u8fdc\u7a0b\u547d\u4ee4\u542f\u52a8\u6b63\u786e\u65b9\u6cd5\u300c\u91cd\u8981\u300d"},"content":{"rendered":"\n

\u5728\u6700\u8fd1\u7684\u98de\u884c\u6d4b\u8bd5\u4e2d\uff0c\u53d1\u73b0\u5728\u6d4b\u8bd5\u8fc7\u7a0b\u4e2d\u5076\u5c14\u51fa\u73b0\u7531\u4e8e\u65e0\u7ebf\u901a\u8baf\u8d28\u91cf\u5dee\u5bfc\u81f4SSH\u8fde\u63a5\u65ad\u5f00\uff0c\u8fdb\u800c\u5f15\u53d1\u70b8\u673a<\/mark>\u7684\u95ee\u9898\u3002\u4e3a\u89e3\u51b3\u6b64\u95ee\u9898\uff0c\u73b0\u5bf9\u98de\u884c\u6d4b\u8bd5\u6d41\u7a0b\u8fdb\u884c\u5982\u4e0b\u4f18\u5316\uff1a<\/p>\n\n\n\n

\u65b9\u6cd5\u4e00\uff1a<\/h2>\n\n\n\n

\u7b2c\u4e00\u6b65\uff1a\u6253\u5f00\u7ec8\u7aef<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u7b2c\u4e8c\u6b65\uff1a\u7ec8\u7aef\u8f93\u5165tmux\u65b0\u5efa\u4f1a\u8bdd<\/strong><\/p>\n\n\n\n

#\u65b0\u5efa\u4e00\u4e2a\u4f1a\u8bdd\ntmux<\/code><\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
#\u5982\u679c\u65e0\u6cd5\u542f\u52a8\uff0c\u53ef\u4ee5\u628a\u65e0\u4eba\u673a\u8054\u7f51\u540e\u4f7f\u7528
sudo apt-get install tmux
#\u6765\u5b89\u88c5tmux<\/pre>\n\n\n\n
\u7b2c\u4e09\u6b65\uff1a\u8f93\u5165\u9700\u8981\u8fd0\u884c\u7684\u6307\u4ee4<\/strong><\/p>\n\n\n\n
# \u542f\u52a8\u6838\u5fc3ROS\u8282\u70b9(\u8fd9\u91cc\u4e5f\u53ef\u4ee5\u5c06launch\u6587\u4ef6\u66ff\u6362\u4e3a\u81ea\u5df1\u7684launch)
roslaunch tutorial_all run_aic2025_task.launch<\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5982\u679c\u9700\u8981\u5206\u5c4f\uff0c\u53ef\u4ee5\u5148\u6309\u4e0b\u5feb\u6377\u952eCtrl+B\uff0c\u968f\u540e\u6309%\u5de6\u53f3\u5206\u5c4f\u6216\u8005\u201c\u4e0a\u4e0b\u5206\u5c4f\uff0c\u968f\u540e\u5148\u6309Ctrl+B\u518d\u6309\u4e0a\u4e0b\u5de6\u53f3\u65b9\u5411\u952e\u5207\u6362\u7ec8\u7aef\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5982\u679c\u610f\u5916\u5bfc\u81f4\u7a97\u53e3\u5173\u95ed\uff0c\u53ef\u4ee5\u4f7f\u7528<\/p>\n\n\n\n
tmux attach -t 0<\/pre>\n\n\n\n
\u8fd4\u56de\u4e4b\u524d\u7684tmux\u7a97\u53e3<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u65b9\u6cd5\u4e8c\uff1a<\/h2>\n\n\n\n
\u64cd\u4f5c\u6d41\u7a0b<\/h3>\n\n\n\n
\u7b2c\u4e00\u6b65\uff1a\u521b\u5efa\u542f\u52a8\u811a\u672c<\/strong><\/p>\n\n\n\n
# \u521b\u5efalaunch.sh\u6587\u4ef6
touch launch.sh
<\/pre>\n\n\n\n
\u7b2c\u4e8c\u6b65\uff1a\u8d4b\u4e88\u6267\u884c\u6743\u9650<\/strong><\/p>\n\n\n\n
# \u63d0\u6743\u64cd\u4f5c
sudo chmod +x launch.sh
# \u6216\u8005\u4f7f\u7528
sudo chmod 777 launch.sh

\u8f93\u5165\u5bc6\u7801\u540e\u56de\u8f66\u5373\u53ef<\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7b2c\u4e09\u6b65\uff1a\u7f16\u8f91\u811a\u672c\u5185\u5bb9<\/strong><\/p>\n\n\n\n
# \u7f16\u8f91launch.sh\u6587\u4ef6\nnano launch.sh\n# \u6216\u4f7f\u7528\u5176\u4ed6\u7f16\u8f91\u5668\u5982vim\u3001gedit\u7b49<\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5728\u6587\u4ef6\u4e2d\u5199\u5165\u4ee5\u4e0b\u4ee3\u7801\uff1a<\/p>\n\n\n\n
#!\/bin\/bash<\/strong>

# \u8bbe\u7f6eROS\u73af\u5883\uff08\u6839\u636e\u5b9e\u9645\u8def\u5f84\u8c03\u6574\uff09
source \/opt\/ros\/noetic\/setup.bash
source ~\/catkin_ws\/devel\/setup.bash

# \u542f\u52a8\u6838\u5fc3ROS\u8282\u70b9(\u8fd9\u91cc\u4e5f\u53ef\u4ee5\u5c06launch\u6587\u4ef6\u66ff\u6362\u4e3a\u81ea\u5df1\u7684launch\u6216\u8005\u6dfb\u52a0\u591a\u884claunch\u6587\u4ef6\u9010\u6b65\u542f\u52a8)
nohup roslaunch tutorial_all run_aic2025_task.launch > ~\/ros_launch.log 2<\/strong>>&1<\/strong> &<\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7b2c\u56db\u6b65\uff1a\u6267\u884c\u6d4b\u8bd5<\/strong><\/p>\n\n\n\n
# \u8fd0\u884c\u542f\u52a8\u811a\u672c\nnohup .\/launch.sh > ~\/script_output.log 2<\/strong>>&1<\/strong> &<\/pre>\n\n\n\n
\u540e\u7eed\u4f7f\u7528<\/strong><\/p>\n\n\n\n
\u6bcf\u6b21\u8fdb\u884c\u98de\u884c\u6d4b\u8bd5\u65f6\uff0c\u53ea\u9700\u8fdc\u7a0b\u6267\u884c\uff1a<\/p>\n\n\n\n
nohup .\/launch.sh &<\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7b2c\u4e94\u6b65\uff1a\u5173\u95ed\u8fdb\u7a0b<\/strong><\/p>\n\n\n\n
\u8b66\u544a\uff1a\u5982\u679c\u5728\u4e0d\u5173\u95ed\u540e\u53f0\u8fdb\u7a0b\u7684\u524d\u63d0\u4e0b\u91cd\u65b0\u542f\u52a8\u4ee3\u7801\u98de\u884c\u65e0\u4eba\u673a\uff0c\u5c06\u5bfc\u81f4\u65e0\u4eba\u673a\u5b9a\u4f4d\u5bfc\u822a\u9519\u8bef\u7b49\u7b49\u4e00\u7cfb\u5217\u95ee\u9898\u3002<\/mark><\/p>\n\n\n\n
\u56de\u8f66\u6216\u8005\u65b0\u5f00\u542f\u4e00\u4e2a\u7ec8\u7aef\u540e\uff0c\u4f7f\u7528\u6307\u4ee4<\/p>\n\n\n\n
pkill -f <.sh\u4e2d\u542f\u52a8\u7684\u547d\u4ee4>
<\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u4f8b\u5982\u8fd9\u91cc\u662f\u53ea\u6709roslaunch\u547d\u4ee4\uff0c\u5219\u53ea\u5173\u95edroslaunch\uff1a<\/p>\n\n\n\n
pkill -f roslaunch<\/pre>\n\n\n\n
\u5373\u53ef\u5173\u95ed\u6b63\u5728\u8fd0\u884c\u7684roslaunch\u8fdb\u7a0b<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7b2c\u516d\u6b65\uff1a\u8bfb\u53d6log\u6587\u4ef6<\/strong><\/p>\n\n\n\n
1.\u4f7f\u7528\u8fdc\u7a0b\u6587\u4ef6\u7ba1\u7406\u5668\uff0c\u6253\u5f00\u8f93\u5165\u5e76\u4e14\u8f6c\u5230\/home\/jetson\u76ee\u5f55\u4e0b\uff0c<\/p>\n\n\n\n
2.\u53cc\u51fb\u6253\u5f00ros_launch.log\u65e5\u5fd7\u6587\u4ef6\uff0c<\/p>\n\n\n\n
3.\u67e5\u770b\u65e5\u5fd7\u6587\u4ef6\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n","protected":false},"excerpt":{"rendered":"
\u5728\u6700\u8fd1\u7684\u98de\u884c\u6d4b\u8bd5\u4e2d\uff0c\u53d1\u73b0\u5728\u6d4b\u8bd5\u8fc7\u7a0b\u4e2d\u5076\u5c14\u51fa\u73b0\u7531\u4e8e\u65e0\u7ebf\u901a\u8baf\u8d28\u91cf\u5dee\u5bfc\u81f4SSH\u8fde\u63a5\u65ad\u5f00\uff0c\u8fdb\u800c\u5f15\u53d1\u70b8\u673a\u7684\u95ee\u9898\u3002\u4e3a\u89e3\u51b3\u6b64 […]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":453,"menu_order":4,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","categories":[],"doc_label":[],"doc_tag":[],"class_list":["post-182","docs","type-docs","status-publish","format-standard","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/182","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs"}],"about":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/types\/docs"}],"author":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/users\/7"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=182"}],"version-history":[{"count":3,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/182\/revisions"}],"predecessor-version":[{"id":301,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/182\/revisions\/301"}],"up":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/453"}],"wp:attachment":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=182"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=182"},{"taxonomy":"doc_label","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_label&post=182"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=182"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}