{"id":490,"date":"2026-03-09T15:05:45","date_gmt":"2026-03-09T07:05:45","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&p=490"},"modified":"2026-03-09T15:20:50","modified_gmt":"2026-03-09T07:20:50","slug":"%e4%ba%8c%e7%bb%b4%e7%a0%81%e8%af%86%e5%88%ab","status":"publish","type":"docs","link":"https:\/\/docs.liuyaorobot.com\/?docs=%e5%9b%be%e5%83%8f%e8%af%86%e5%88%ab%e5%8f%8a%e6%95%b0%e6%8d%ae%e5%a4%84%e7%90%86\/%e4%ba%8c%e7%bb%b4%e7%a0%81%e8%af%86%e5%88%ab","title":{"rendered":"\u4e8c\u7ef4\u7801\u8bc6\u522b\u4e0e\u753b\u9762\u5f55\u5236"},"content":{"rendered":"\n

\u5728\u6267\u884c\u98de\u884c\u4efb\u52a1\u7684\u65f6\u5019\uff0c\u4e8c\u7ef4\u7801\u753b\u9762\u603b\u662f\u4e0d\u80fd\u957f\u65f6\u95f4\u505c\u7559\uff0c\u4e3a\u65b9\u4fbf\u6d4b\u8bd5\u4e8c\u7ef4\u7801\u8bc6\u522b\uff0c\u53ef\u4ee5\u5229\u7528 rosbag \u5de5\u5177\u5f55\u5236\u626b\u63cf\u4e8c\u7ef4\u7801\u7684\u6574\u4e2a\u8fc7\u7a0b\u3002 \u5728\u4eff\u771f\u73af\u5883\u4e2d\u5f55\u5236\u6444\u50cf\u5934\u753b\u9762\uff1a<\/strong> \u5728 gazebo \u4e2d\u542f\u52a8\u4efb\u52a1\u7a0b\u5e8f\uff08\u8be6\u60c5\u89c1\u7b2c\u4e09\u8282\u4e2d\u7684\u81ea\u52a8\u63a7\u5236\u98de\u884c\uff09\u4e4b\u540e\uff0c\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\uff1a<\/p>\n\n\n\n

rqt_image_view<\/pre>\n\n\n\n
\u5982\u679c rqt \u4e2d\u6b63\u5e38\u663e\u793a\u6444\u50cf\u5934\u753b\u9762\uff0c\u518d\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\uff1a<\/p>\n\n\n\n
rosbag record \/camera\/image_raw<\/pre>\n\n\n\n
\u7b49\u5f85\u98de\u673a\u98de\u8fc7\u4e8c\u7ef4\u7801\uff0c\u6309 Ctrl+C \u7ec8\u7aef\u5f55\u5236\uff0c\u5f55\u5236\u7ed3\u675f\u540e\u67e5\u770b\u5f55\u5236\u6587\u4ef6\u662f\u5426\u65e0\u8bef\u3002<\/p>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n
\u5728\u5b9e\u673a\u4e0a\u5f55\u5236\u6444\u50cf\u5934\u753b\u9762\uff1a<\/strong> 1\uff09\u542f\u52a8\u6444\u50cf\u5934\u9a71\u52a8\uff1a\u5728 Ubuntu \u684c\u9762\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8f93\u5165\uff1a<\/p>\n\n\n\n
roslaunch tutorial_vision simple_camera_driver.launch<\/pre>\n\n\n\n
\u518d\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8f93\u5165\uff1a<\/p>\n\n\n\n
rostopic list<\/pre>\n\n\n\n
\u8f93\u51fa\u7ed3\u679c\u770b\u5230 \/camera\/image_raw \u8bdd\u9898\u8868\u793a\u542f\u52a8\u6210\u529f\u3002<\/p>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n
2\uff09\u67e5\u770b\u6444\u50cf\u5934\u753b\u9762\uff1a\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8f93\u5165\uff1a<\/p>\n\n\n\n
rqt_image_view<\/pre>\n\n\n\n
\u5f39\u51fa\u754c\u9762\u540e\u62ff\u8d77\u65e0\u4eba\u673a\u67e5\u770b\u6709\u6ca1\u6709\u6444\u50cf\u5934\u753b\u9762\uff0c\u6ca1\u6709\u5c31\u5de6\u4e0a\u89d2\u5237\u65b0\u4e00\u4e0b\u8bdd\u9898\u5217\u8868\u3002<\/p>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n
3\uff09\u5f00\u59cb\u5f55\u5236\uff1a\u518d\u6253\u5f00\u4e00\u4e2a\u65b0\u7ec8\u7aef\uff0c\u8fd0\u884c<\/p>\n\n\n\n
rosbag record \/camera\/image_raw<\/pre>\n\n\n\n
\u5f55\u5236\u5f00\u59cb\u540e\u4e3e\u7740\u65e0\u4eba\u673a\u5230\u8bc6\u522b\u4e8c\u7ef4\u7801\u7684\u4e0a\u65b9\uff0c\u8c03\u6574\u4f4d\u7f6e\u8ba9\u4e8c\u7ef4\u7801\u5168\u90e8\u5904\u4e8e\u753b\u9762\u4e2d\uff0c\u5f55\u5236\u7ed3\u675f\u6309 Ctrl+C \u4e2d\u6b62\u547d\u4ee4\uff0c\u5f55\u5236\u7ed3\u675f\u67e5\u770b\u5f55\u5236\u6587\u4ef6\u662f\u5426\u65e0\u8bef\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
\u5728\u6267\u884c\u98de\u884c\u4efb\u52a1\u7684\u65f6\u5019\uff0c\u4e8c\u7ef4\u7801\u753b\u9762\u603b\u662f\u4e0d\u80fd\u957f\u65f6\u95f4\u505c\u7559\uff0c\u4e3a\u65b9\u4fbf\u6d4b\u8bd5\u4e8c\u7ef4\u7801\u8bc6\u522b\uff0c\u53ef\u4ee5\u5229\u7528 rosbag \u5de5\u5177\u5f55\u5236\u626b\u63cf […]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":488,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","categories":[],"doc_label":[],"doc_tag":[],"class_list":["post-490","docs","type-docs","status-publish","format-standard","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/490","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=490"}],"version-history":[{"count":2,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/490\/revisions"}],"predecessor-version":[{"id":498,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/490\/revisions\/498"}],"up":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/488"}],"wp:attachment":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=490"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=490"},{"taxonomy":"doc_label","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_label&post=490"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=490"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}