{"id":509,"date":"2026-03-09T15:30:39","date_gmt":"2026-03-09T07:30:39","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&#038;p=509"},"modified":"2026-03-09T15:37:17","modified_gmt":"2026-03-09T07:37:17","slug":"%e6%8a%95%e6%94%be%e8%a3%85%e7%bd%ae%e4%bd%bf%e7%94%a8%e6%96%b9%e6%b3%95%ef%bc%88jetson-orin-nano-nx-%e7%89%88%e6%9c%ac%ef%bc%89","status":"publish","type":"docs","link":"https:\/\/docs.liuyaorobot.com\/?docs=%e6%8a%95%e6%94%be%e8%a3%85%e7%bd%ae%e7%9b%b8%e5%85%b3\/%e6%8a%95%e6%94%be%e8%a3%85%e7%bd%ae%e4%bd%bf%e7%94%a8%e6%96%b9%e6%b3%95%ef%bc%88jetson-orin-nano-nx-%e7%89%88%e6%9c%ac%ef%bc%89","title":{"rendered":"\u4f7f\u7528\u65b9\u6cd5\uff08Jetson Orin Nano\/NX \uff09"},"content":{"rendered":"\n<p>\u5728\u4e0a\u4f4d\u673a\u7cfb\u7edf\u7684\u547d\u4ee4\u884c\u4e2d\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u542f\u52a8\u6295\u653e\u88c5\u7f6e\u9a71\u52a8\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_catapult catapult_driver.launch<\/pre>\n\n\n\n<p>\u6b64\u65f6\u5728\u53e6\u4e00\u4e2a\u547d\u4ee4\u884c\u4e2d\u8fd0\u884c\u547d\u4ee4<code>rostopic list<\/code>\uff1a<br>\u8bdd\u9898\u542b\u4e49\u53ca\u53c2\u6570\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\/servo\/<strong>all<\/strong>\/open\uff1a\u6253\u5f00<code>\u5168\u90e8<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n\n\n\n<li>\/servo\/<strong>all<\/strong>\/close\uff1a\u5173\u95ed<code>\u5168\u90e8<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\/servo\/<strong>front_left<\/strong>\uff1a\u8c03\u6574<code>\u5de6\u524d<\/code>\u8d27\u4ed3\u95e8\u89d2\u5ea6\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Int32.html\">std_msgs\/Int32<\/a><\/li>\n\n\n\n<li>\/servo\/front_left\/<strong>open<\/strong>\uff1a\u6253\u5f00<code>\u5de6\u524d<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n\n\n\n<li>\/servo\/front_left\/<strong>close<\/strong>\uff1a\u5173\u95ed<code>\u5de6\u524d<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\/servo\/<strong>front_right<\/strong>\uff1a\u8c03\u6574<code>\u53f3\u524d<\/code>\u8d27\u4ed3\u95e8\u89d2\u5ea6\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Int32.html\">std_msgs\/Int32<\/a><\/li>\n\n\n\n<li>\/servo\/front_right\/<strong>open<\/strong>\uff1a\u6253\u5f00<code>\u53f3\u524d<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n\n\n\n<li>\/servo\/front_right\/<strong>close<\/strong>\uff1a\u5173\u95ed<code>\u53f3\u524d<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\/servo\/<strong>back_right<\/strong>\uff1a\u8c03\u6574<code>\u53f3\u540e<\/code>\u8d27\u4ed3\u95e8\u89d2\u5ea6\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Int32.html\">std_msgs\/Int32<\/a><\/li>\n\n\n\n<li>\/servo\/back_right\/<strong>open<\/strong>\uff1a\u6253\u5f00<code>\u5de6\u540e<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n\n\n\n<li>\/servo\/back_right\/<strong>close<\/strong>\uff1a\u5173\u95ed<code>\u5de6\u540e<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\/servo\/<strong>back_right<\/strong>\uff1a\u8c03\u6574<code>\u53f3\u540e<\/code>\u8d27\u4ed3\u95e8\u89d2\u5ea6\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Int32.html\">std_msgs\/Int32<\/a><\/li>\n\n\n\n<li>\/servo\/back_right\/<strong>open<\/strong>\uff1a\u6253\u5f00<code>\u53f3\u540e<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n\n\n\n<li>\/servo\/back_right\/<strong>close<\/strong>\uff1a\u5173\u95ed<code>\u53f3\u540e<\/code>\u4ed3\u95e8\uff0c\u53c2\u6570\u4e3a<a href=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/[std_msgs\/Empty](https:\/\/docs.ros.org\/en\/jade\/api\/std_msgs\/html\/msg\/Empty.html)\">std_msgs\/Empty<\/a><\/li>\n<\/ul>\n\n\n\n<p>\u4f8b\uff1a<br>\u5728\u542f\u52a8\u6295\u653e\u88c5\u7f6e\u9a71\u52a8\u540e\uff0c\u5728\u547d\u4ee4\u884c\u8fd0\u884c<code>rostopic pub \/servo\/all\/open std_msgs\/Empty \"{}\"<\/code>\u547d\u4ee4\u540e\uff0c\u6240\u6709\u4ed3\u95e8\u5c06\u6253\u5f00<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/catapult.png\" alt=\"alt text\"\/><\/figure>\n\n\n\n<p>\u8fd0\u884c<code>rostopic pub \/servo\/back_left std_msgs\/Int32 \"data: 45\"<\/code>\u547d\u4ee4\u540e\uff0c\u5de6\u540e\u4ed3\u95e8\u5c06\u8f6c\u81f345\u5ea6<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/catapult6.png\" alt=\"alt text\"\/><\/figure>\n\n\n\n<p>\u8fd0\u884c<code>rostopic pub \/servo\/back_left\/close std_msgs\/Empty \"{}\"<\/code>\u547d\u4ee4\u540e\uff0c\u5de6\u540e\u4ed3\u95e8\u5c06\u5173\u95ed<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/catapult7.png\" alt=\"alt text\"\/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u4e0a\u4f4d\u673a\u7cfb\u7edf\u7684\u547d\u4ee4\u884c\u4e2d\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u542f\u52a8\u6295\u653e\u88c5\u7f6e\u9a71\u52a8\uff1a roslaunch tutorial_catapult [&hellip;]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":499,"menu_order":3,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","categories":[],"doc_label":[],"doc_tag":[],"class_list":["post-509","docs","type-docs","status-publish","format-standard","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/509","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=509"}],"version-history":[{"count":3,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/509\/revisions"}],"predecessor-version":[{"id":517,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/509\/revisions\/517"}],"up":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/499"}],"wp:attachment":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=509"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=509"},{"taxonomy":"doc_label","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_label&post=509"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=509"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}