{"id":660,"date":"2026-04-01T11:33:50","date_gmt":"2026-04-01T03:33:50","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&#038;p=660"},"modified":"2026-04-01T11:35:14","modified_gmt":"2026-04-01T03:35:14","slug":"cifar100%e5%9b%be%e5%83%8f%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\/cifar100%e5%9b%be%e5%83%8f%e8%af%86%e5%88%ab","title":{"rendered":"cifar100\u56fe\u50cf\u8bc6\u522b"},"content":{"rendered":"\n<p>\u672c\u6559\u7a0b\u4e2d\u8bc6\u522b\u6240\u7528\u6a21\u578b\u6743\u91cd\u5df2\u63d0\u524d\u8bad\u7ec3\u5b8c\u6210\uff0c\u8bad\u7ec3\u4e0e\u8bc6\u522b\u5747\u5728\u4eff\u771f\u73af\u5883\u4e2d\u5b8c\u6210\u3002 1\uff09\u9996\u5148\u5c06\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u6743\u91cd\u653e\u5230 tutorials\/tutorial_vision\/model \u6587\u4ef6\u5939\u4e0b\uff08\u6ce8\u610f\u6a21\u578b\u540d\u79f0\u8981\u548c launch \u6587\u4ef6\u4e2d\u914d\u7f6e\u7684\u4e00\u81f4\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1737425142609.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>2\uff09\u7136\u540e\u542f\u52a8 gazebo\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_gazebo sim.launch <\/pre>\n\n\n\n<p>3\uff09\u542f\u52a8\u4e00\u4e2a\u8bc6\u522b\u6837\u4f8b\uff0c\u8fd9\u91cc\u76f4\u63a5\u8fd0\u884c\u4e86 run_yolo_detect.launch\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_vision run_yolo_detect.launch run_mavros:=false run_fast_lio:=false \nrun_driver:=false<\/pre>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u5982\u679c\u56e0\u4e3a\u6ca1\u6709\u914d\u7f6e cuda \u800c\u51fa\u9519\uff0c\u90a3\u4e48\u9700\u8981\u5c06 tutorial_vision \u4e2d\u7684 yolov5.launch \u91cc\u7684 &lt;arg name=&#8221;device&#8221; default=&#8221;cuda:0&#8243;\/&gt; \u6539\u6210 &lt;arg name=&#8221;device&#8221; default=&#8221;cpu&#8221;\/&gt;<\/p>\n<\/blockquote>\n\n\n\n<p>4\uff09\u8fd9\u65f6\u53ef\u4ee5\u6253\u5f00 rqt \u67e5\u770b\u6444\u50cf\u5934\u753b\u9762\uff0c\u6253\u5f00\u540e\u518d\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u67e5\u770b\u5f53\u524d\u8bdd\u9898\u5217\u8868\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">rostopic list<\/pre>\n\n\n\n<p>\u53ef\u4ee5\u770b\u5230\u8bdd\u9898\u5217\u8868\u4e2d\u6709 \/yolo_detect \u8fd9\u4e2a\u8bdd\u9898\uff0c\u8bc6\u522b\u7ed3\u679c\u4f1a\u53d1\u9001\u5230\u6b64\u8bdd\u9898\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1737426332183.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>5\uff09\u8ba2\u9605\u6b64\u8bdd\u9898\u67e5\u770b\u8bc6\u522b\u7ed3\u679c\uff08\u9700\u7b49\u5230\u98de\u673a\u98de\u5230\u56fe\u7247\u4e0a\u65b9\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">rostopic echo \/yolo_detect<\/pre>\n\n\n\n<p>\u82e5\u8bc6\u522b\u6210\u529f\uff0c\/yolo_detect \u8bdd\u9898\u4f1a\u8f93\u51fa\u8bc6\u522b\u7ed3\u679c\uff0c\u5e76\u5f39\u51fa detect input \u7a97\u53e3\u663e\u793a\u521a\u624d\u8bc6\u522b\u7684\u56fe\u7247\u3002\u82e5\u65e0\u6cd5\u8bc6\u522b\uff0c\u5219\u9700\u624b\u52a8\u5f00\u542f\u8bc6\u522b\u670d\u52a1\uff08\u547d\u4ee4\u884c\u8fd0\u884c\uff1arosservice call \/toggle_yolo_detect &#8220;{}&#8221;\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1737426610773.jpg\" alt=\"\"\/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u6559\u7a0b\u4e2d\u8bc6\u522b\u6240\u7528\u6a21\u578b\u6743\u91cd\u5df2\u63d0\u524d\u8bad\u7ec3\u5b8c\u6210\uff0c\u8bad\u7ec3\u4e0e\u8bc6\u522b\u5747\u5728\u4eff\u771f\u73af\u5883\u4e2d\u5b8c\u6210\u3002 1\uff09\u9996\u5148\u5c06\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u6743\u91cd\u653e\u5230 tut [&hellip;]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":488,"menu_order":2,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","categories":[],"doc_label":[],"doc_tag":[],"class_list":["post-660","docs","type-docs","status-publish","format-standard","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/660","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=660"}],"version-history":[{"count":1,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/660\/revisions"}],"predecessor-version":[{"id":664,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/660\/revisions\/664"}],"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=660"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=660"},{"taxonomy":"doc_label","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_label&post=660"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=660"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}