{"id":237,"date":"2025-12-15T18:03:04","date_gmt":"2025-12-15T10:03:04","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?p=237"},"modified":"2026-03-03T18:00:22","modified_gmt":"2026-03-03T10:00:22","slug":"%e9%aa%8c%e6%94%b6%e6%b5%81%e7%a8%8b","status":"publish","type":"post","link":"https:\/\/docs.liuyaorobot.com\/?p=237","title":{"rendered":"\u9a8c\u6536\u6d41\u7a0b"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u5f00\u7bb1\u68c0\u67e5\u8bbe\u5907\u662f\u5426\u9f50\u5168\u3002<\/h2>\n\n\n\n<p>\u5305\u542b\uff1a\u65e0\u4eba\u673a\u3001\u9065\u63a7\u5668\uff08\u9ad8\u9891\u5934\u4ee5\u53ca\u5929\u7ebf\uff09\u3001\u8c03\u8bd5\u7528\u7535\u6e90\u3001\u5145\u7535\u5668\u7535\u6e90\u3001\u5145\u7535\u5668\u3001\u7535\u6c60\uff08\u4e24\u5757\uff09\u3001\u952e\u9f20\u5957\u88c5\uff08\u5305\u542b\u63a5\u6536\u673a\uff09\u3001\u663e\u793a\u5668\u3001\u7ebf\u7f06\u63a5\u5934\uff08UsbTypeC\u6570\u636e\u7ebf\uff08\u9ed1\uff09\u3001UsbTypeC\u7535\u6e90\u7ebf\uff08\u767d\uff09\u3001HDMI\u7ebf\u3001DP\u8f6cHDMI\u8f6c\u63a5\u5934\uff09\u3001\u6d88\u8017\u4ef6\uff08\u6868\u4fdd\u4e00\u652f*4\u5957\u3001\u6868\u53f6\u6b63\u53cd\u4e00\u5bf9*4\u5957\u3001\u7269\u5757*4\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"530\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-18-1024x530.png\" alt=\"\" class=\"wp-image-248\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-18-1024x530.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-18-300x155.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-18-768x398.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-18.png 1199w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"481\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-15-1024x481.png\" alt=\"\" class=\"wp-image-245\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-15-1024x481.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-15-300x141.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-15-768x361.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-15.png 1278w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u4ecb\u7ecd\u5145\u7535\u5668\u4f7f\u7528\u65b9\u6cd5\u4ee5\u53ca\u7535\u6c60\u4fdd\u517b\u3002<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u8fde\u63a5\u5145\u7535\u5668\u7535\u6e90\u5230220V\u7535\u6e90\uff0c\u5c06\u5145\u7535\u5668\u7535\u6e90XT60\u7aef\u63a5\u5165\u5230\u5145\u7535\u5668\uff0c\u8fde\u63a5\u5145\u7535\u5668\u4e0e\u7535\u6c60\u5982\u56fe\u3002<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"522\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-19.png\" alt=\"\" class=\"wp-image-249\" style=\"aspect-ratio:1.3084444444444445;width:573px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-19.png 683w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-19-300x229.png 300w\" sizes=\"auto, (max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"627\" height=\"483\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-20.png\" alt=\"\" class=\"wp-image-250\" style=\"aspect-ratio:1.2981572318706085;width:585px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-20.png 627w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-20-300x231.png 300w\" sizes=\"auto, (max-width: 627px) 100vw, 627px\" \/><\/figure>\n\n\n\n<p>\u4f7f\u7528\u8fd9\u4e2a\u65cb\u94ae\u9009\u62e9\u548c\u6309\u4e0b\u65cb\u94ae\u786e\u8ba4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"357\" height=\"221\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-21.png\" alt=\"\" class=\"wp-image-251\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-21.png 357w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-21-300x186.png 300w\" sizes=\"auto, (max-width: 357px) 100vw, 357px\" \/><\/figure>\n\n\n\n<p>\u4f7f\u7528\u8fd9\u4e2a\u6309\u94ae\u5728\u4e0d\u540c\u5145\u7535\u5668\u901a\u9053\u7684\u4e24\u5757\u7535\u6c60\u5207\u6362\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"411\" height=\"270\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-25.png\" alt=\"\" class=\"wp-image-255\" style=\"width:357px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-25.png 411w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-25-300x197.png 300w\" sizes=\"auto, (max-width: 411px) 100vw, 411px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u4e00\u822c\u6807\u914d\u7535\u6c60\u4e3a4S\u9502\u94c2\u805a\u5408\u7269\u7535\u6c60\uff0c\u653e\u7a7a\u7535\u6c60\u5355\u4e2a\u7535\u82af\u7535\u538b3.6~3.7V\u3001\u5145\u6ee1\u4e3a4.1~4.2V\u3001\u957f\u65f6\u95f4\u4e0d\u4f7f\u7528\u5b58\u50a8\u7535\u538b\u4e3a3.85V\u3002<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"564\" height=\"321\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-24.png\" alt=\"\" class=\"wp-image-254\" style=\"width:443px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-24.png 564w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-24-300x171.png 300w\" sizes=\"auto, (max-width: 564px) 100vw, 564px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u5145\u7535\u5668\u7684\u4e09\u4e2a\u6a21\u5f0f\uff1a\u5145\u7535\u3001\u653e\u7535\u3001\u5b58\u50a8\uff0c\u4f7f\u7528\u4e4b\u524d\u5c06\u7535\u6c60\u7535\u91cf\u5b8c\u5168\u5145\u6ee1\uff08\u5355\u4e2a\u7535\u82af\u51b2\u52304.2V\uff09\uff0c\u957f\u65f6\u95f4\u4e0d\u7528\u65f6\uff08\u8ba1\u5212\u8d85\u8fc712\u5c0f\u65f6\u4e0d\u4f7f\u7528\uff09\u4f7f\u7528\u5b58\u50a8\u6a21\u5f0f\uff0c\u5145\u7535\u5668\u4f1a\u81ea\u52a8\u51b2\u653e\u7535\u5230\u5355\u9897\u7535\u82af3.85V\u3002\u8b66\u544a\uff1a\u957f\u65f6\u95f4\u5c06\u7535\u6c60\u6ee1\u7535\u6216\u8005\u51e0\u4e4e\u653e\u7a7a\u72b6\u6001\u5b58\u50a8\u4f1a\u5bfc\u81f4\u7535\u6c60\u5bb9\u91cf\u4e0b\u964d\u548c\u9f13\u5305\u3002<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"375\" height=\"267\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-22.png\" alt=\"\" class=\"wp-image-252\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-22.png 375w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-22-300x214.png 300w\" sizes=\"auto, (max-width: 375px) 100vw, 375px\" \/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u9065\u63a7\u5668\u7684\u4f7f\u7528\u3002<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"1-\u9065\u63a7\u5668\u4ecb\u7ecd\">1. \u9065\u63a7\u5668\u4ecb\u7ecd\u4e0e\u64cd\u4f5c\u8bf4\u660e<\/h3>\n\n\n\n<p>0 &#8211; \u9065\u63a7\u5668\u5f00\u5173\u673a\u6309\u952e\uff1a\u5173\u673a\u72b6\u6001\u4e0b\uff0c\u957f\u6309 3 \u79d2\u542f\u52a8\u9065\u63a7\u5668\uff1b\u5f00\u673a\u72b6\u6001\u4e0b\uff0c\u957f\u6309 3 \u79d2\u5173\u95ed\u9065\u63a7\u5668\uff1b\u542f\u52a8\u4e2d\uff0c\u6309\u952e\u4e3a\u84dd\u8272\uff0c\u542f\u52a8\u6210\u529f\u540e\uff0c\u6309\u952e\u4e3a\u7eff\u8272\uff0c\u82e5\u542f\u52a8\u540e\u5f00\u5173\u673a\u6309\u952e\u4e3a\u7ea2\u8272\uff0c\u8868\u793a\u6447\u6746\u6216\u5f00\u5173\u672a\u5904\u4e8e\u521d\u59cb\u72b6\u6001\uff0c\u68c0\u67e5\u6447\u6746\u548c\u5f00\u5173\uff0c\u5c06\u5176\u62e8\u52a8\u56de\u521d\u59cb\u72b6\u6001\uff0c\u5f00\u5173\u673a\u6309\u952e\u91cd\u65b0\u53d8\u4e3a\u7eff\u8272\uff1b\u9065\u63a7\u5668\u5f00\u5173\u673a\u6309\u952e\u4e3a\u7eff\u8272\u72b6\u6001\u65f6\uff0cTRS \u9ad8\u9891\u5934\u624d\u4f1a\u6b63\u5e38\u542f\u52a8\u5e76\u63a5\u6536\u9065\u63a7\u5668\u4fe1\u53f7\uff1b<\/p>\n\n\n\n<p>1 &#8211; \u9065\u63a7\u5668\u901a\u9053 1\uff1aRoll \u6447\u6746\uff1a\u63a7\u5236\u65e0\u4eba\u673a\u7ffb\u6eda\u89d2\u5ea6\uff1b<\/p>\n\n\n\n<p>2 &#8211; \u9065\u63a7\u5668\u901a\u9053 2\uff1aPitch \u6447\u6746\uff1a\u63a7\u5236\u65e0\u4eba\u673a\u4fef\u4ef0\u89d2\u5ea6\uff1b<\/p>\n\n\n\n<p>3 &#8211; \u9065\u63a7\u5668\u901a\u9053 3\uff1aThrottle \u6447\u6746\uff1a\u63a7\u5236\u65e0\u4eba\u673a\u6cb9\u95e8\u8f93\u51fa\uff1b<\/p>\n\n\n\n<p>4 &#8211; \u9065\u63a7\u5668\u901a\u9053 4\uff1aYaw \u6447\u6746\uff1a\u63a7\u5236\u65e0\u4eba\u673a\u822a\u5411\u89d2\u5ea6\uff1b<\/p>\n\n\n\n<p>5 &#8211; \u9065\u63a7\u5668\u901a\u9053 5\uff1a\u9065\u63a7\u5668\u4e09\u6bb5\u5f00\u5173\u6309\u952e\uff0c\u529f\u80fd\u672a\u5b9a\u4e49\uff0c\u53ef\u81ea\u7531\u4f7f\u7528\uff1b<\/p>\n\n\n\n<p>6 &#8211; \u9065\u63a7\u5668\u901a\u9053 6\uff1a\u98de\u884c\u6a21\u5f0f\u5207\u6362\u4e09\u6bb5\u5f00\u5173\uff1a\u63a7\u5236\u65e0\u4eba\u673a\u98de\u884c\u6a21\u5f0f\uff1b\u6253\u5230\u6700\u4e0a\u65b9\uff08\u56fe\u4e2d\u6240\u793a\u4f4d\u7f6e\uff09\u65f6\uff0c\u98de\u884c\u6a21\u5f0f\u5bf9\u5e94<strong>\u81ea\u7a33\u98de\u884c\u6a21\u5f0f\uff08Stabilized\uff09<\/strong>\uff1b\u6253\u5230\u4e2d\u95f4\u4f4d\u7f6e\u65f6\uff0c\u98de\u884c\u6a21\u5f0f\u5bf9\u5e94<strong>\u5b9a\u9ad8\u98de\u884c\u6a21\u5f0f\uff08Altitude\uff09<\/strong>\uff1b\u6253\u5230\u6700\u4e0b\u65b9\u4f4d\u7f6e\u65f6\uff0c\u98de\u884c\u6a21\u5f0f\u5bf9\u5e94<strong>\u5b9a\u70b9\u98de\u884c\u6a21\u5f0f\uff08Position\uff09<\/strong>\uff1b<\/p>\n\n\n\n<p>7 &#8211; \u9065\u63a7\u5668\u901a\u9053 7\uff1a<strong>\u7d27\u6025\u505c\u6b62\u5f00\u5173\uff08Emergency Kill\uff09<\/strong>\uff1a\u6309\u952e\u5f39\u8d77\u65f6\uff0c\u4e0d\u89e6\u53d1\u7d27\u6025\u505c\u6b62\uff0c\u6309\u4e0b\u6309\u952e\u65f6\uff0c\u7eff\u706f\u4eae\u8d77\uff0c\u89e6\u53d1\u7d27\u6025\u505c\u6b62\uff0c\u7535\u673a\u505c\u6b62\u8f6c\u52a8\uff0c\u5728\u4e00\u4e9b\u7d27\u6025\u72b6\u51b5\u4e0b\u53ef\u4ee5\u4f7f\u7528\uff0c\u5f3a\u5236\u4f7f\u98de\u673a\u5760\u673a\uff1b<\/p>\n\n\n\n<p>8 &#8211; \u9065\u63a7\u5668\u901a\u9053 8\uff1a\u5916\u90e8\u63a7\u5236\u6a21\u5f0f\uff08offboard\uff09\u5207\u6362\u6309\u952e\uff1a\u6309\u4e0b\u6309\u952e\u65f6\uff0c\u7eff\u706f\u4eae\u8d77\uff0c\u5207\u6362\u4e3a\u5916\u90e8\u63a7\u5236\u6a21\u5f0f\uff08offboard\uff09\uff1b\u6309\u4e0b\u5f39\u8d77\u65f6\uff0c\u6309\u952e\u7eff\u5149\u7184\u706d\uff0c\u9000\u51fa\u5916\u90e8\u63a7\u5236\u6a21\u5f0f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image is-resized\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/66e17371685b7.png\" alt=\"\" style=\"aspect-ratio:1.0081386190601207;width:396px;height:auto\"\/><\/figure>\n\n\n\n<p><strong>2-1. TRS\u6b3e\u9ad8\u9891\u5934\u64cd\u4f5c\u8bf4\u660e<strong>\u4e0e<\/strong>\u72b6\u6001\u8bf4\u660e\uff1a<\/strong><\/p>\n\n\n\n<p>0 &#8211; \u9ad8\u9891\u5934\u5929\u7ebf\uff0c\u4f7f\u7528\u524d\uff0c\u5c06\u9065\u63a7\u5668\u914d\u5957\u5929\u7ebf\u62e7\u7d27\u5230 SMA \u63a5\u5934\u4e0a\uff1b<\/p>\n\n\n\n<p>5 &#8211; \u84dd\u7259\u8fde\u63a5\u6307\u793a\u706f\uff1a\u84dd\u706f\u957f\u4eae\u8868\u793a\u9ad8\u9891\u5934\u84dd\u7259\u5df2\u8fde\u63a5\uff1b\u84dd\u706f\u7184\u706d\u8868\u793a\u9ad8\u9891\u5934\u84dd\u7259\u672a\u8fde\u63a5\uff1b<\/p>\n\n\n\n<p>6 &#8211; Type-C \u63a5\u53e3\uff1a\u7528\u4e8e\u5c06\u9ad8\u9891\u5934\u8fde\u63a5\u5230\u7535\u8111\uff0c\u5b9e\u73b0\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u7ad9\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image is-resized\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/66e174295534e.png\" alt=\"\" style=\"aspect-ratio:1.45360155743024;width:561px;height:auto\"\/><\/figure>\n\n\n\n<p>1 &#8211; TRS \u63a5\u6536\u673a\u6307\u793a\u706f\uff1a\u7eff\u706f\u957f\u4eae\u4e3a\u5df2\u8fde\u63a5\uff1b\u7eff\u706f\u6162\u95ea\u4e3a\u672a\u8fde\u63a5\uff1b\u7eff\u706f\u5feb\u95ea\u4e3a\u5bf9\u9891\u4e2d\uff1b\u7eff\u706f\u53cc\u95ea\u4e3a\u5df2\u8fde\u63a5\uff0c\u4f46\u65e0 Sbus \u4fe1\u53f7\uff1b<\/p>\n\n\n\n<p>2 &#8211; TRS \u63a5\u6536\u673a\u5bf9\u9891\u6309\u952e\uff1a\u6309\u4f4f\u6309\u952e\u540c\u65f6\u7ed9\u63a5\u6536\u673a\u4e0a\u7535\u540e\u677e\u5f00\u6309\u952e\uff0c\u63a5\u6536\u673a\u8fdb\u5165\u641c\u7d22\u5bf9\u9891\u6a21\u5f0f\uff08\u7eff\u706f\u5feb\u95ea\uff09\u3002<\/p>\n\n\n\n<p><strong>2-2. ELRS\u6b3e\u9ad8\u9891\u5934\u64cd\u4f5c\u8bf4\u660e<strong>\u4e0e<\/strong>\u72b6\u6001\u8bf4\u660e\uff1a<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u9065\u63a7\u5668\u4ecb\u7ecd<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"441\" height=\"795\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-39.png\" alt=\"\" class=\"wp-image-327\" style=\"width:335px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-39.png 441w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-39-166x300.png 166w\" sizes=\"auto, (max-width: 441px) 100vw, 441px\" \/><\/figure>\n\n\n\n<p>1.sma\u5929\u7ebf\u63a5\u53e3\uff0c\u5fc5\u987b\u5c06\u9065\u63a7\u5668\u914d\u5957\u5929\u7ebf\u62e7\u7d27\u5230 SMA \u63a5\u5934\u4e0a\u540e\u624d\u5141\u8bb8\u4e0a\u7535\uff0c\u5426\u5219\u6709\u70e7\u6bc1\u5c04\u9891\u82af\u7247\u7684\u98ce\u9669\u3002<\/p>\n\n\n\n<p>2.\u6309\u94ae1\uff1a\u53ef\u7f16\u7a0b\uff08\u9ed8\u8ba4\u4e3a\u77ed\u63093\u6b21\u5bf9\u9891\uff0c\u957f\u63090.5\u79d2\u8c03\u6574\u529f\u7387\uff09<\/p>\n\n\n\n<p>3.\u6307\u793a\u706f\uff1a\u53c2\u8003\u4e0b\u56fe<\/p>\n\n\n\n<p>4.\u6309\u94ae2\uff1a\uff08\u9ed8\u8ba4\u77ed\u63092\u6b21\u8fdb\u5165\u56fe\u4f20\u83dc\u5355\uff0c\u957f\u63090.5\u79d2\u53d1\u9001\u56fe\u4f20\u8bbe\u7f6e\uff09<\/p>\n\n\n\n<p>5.Type-C \u63a5\u53e3\uff1a\u7528\u4e8e\u5c06\u9ad8\u9891\u5934\u8fde\u63a5\u5230\u7535\u8111\uff0c\u5b9e\u73b0\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u7ad9\u7684\u901a\u4fe1\uff0c\u540c\u65f6\u4e5f\u662f\u9ad8\u9891\u5934\u7ebf\u5237\u70e7\u5f55\u63a5\u53e3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"957\" height=\"1024\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/1fdcdd799769c1109623e436db40efb3-957x1024.jpg\" alt=\"\" class=\"wp-image-328\" style=\"aspect-ratio:0.9341766872871342;width:625px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/1fdcdd799769c1109623e436db40efb3-957x1024.jpg 957w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/1fdcdd799769c1109623e436db40efb3-280x300.jpg 280w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/1fdcdd799769c1109623e436db40efb3-768x822.jpg 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/1fdcdd799769c1109623e436db40efb3-1435x1536.jpg 1435w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/1fdcdd799769c1109623e436db40efb3-1913x2048.jpg 1913w\" sizes=\"auto, (max-width: 957px) 100vw, 957px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u63a5\u6536\u673a<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"588\" height=\"795\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-40.png\" alt=\"\" class=\"wp-image-330\" style=\"width:391px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-40.png 588w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-40-222x300.png 222w\" sizes=\"auto, (max-width: 588px) 100vw, 588px\" \/><\/figure>\n\n\n\n<p>\u63a5\u6536\u673a\u6307\u793a\u706f\uff1a<\/p>\n\n\n\n<p>\u5feb\u95ea\uff0c\u5bf9\u9891\u5931\u8d25\uff0c\u8fdb\u5165WiFi\u6a21\u5f0f\uff1b<\/p>\n\n\n\n<p>\u6162\u95ea\uff0c\u7b49\u5f85\u5bf9\u9891\uff1b<\/p>\n\n\n\n<p>\u5e38\u4eae\uff0c\u5bf9\u9891\u6210\u529f\u3002<\/p>\n\n\n\n<p>\u63a5\u6536\u673a\u8fdb\u5165\u5bf9\u9891\u6a21\u5f0f\u64cd\u4f5c\uff1a\u5feb\u901f\u8ba9\u65e0\u4eba\u673a\u4e0a\u7535\u5e76\u4e14\u65ad\u75353\u6b21\u540e\u63a5\u6536\u673a\u8fdb\u5165\u5bf9\u9891\u6a21\u5f0f\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u65e0\u4eba\u673a\u9996\u6b21\u5f00\u673a\u4e0e\u6d4b\u8bd5\u3002<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u9996\u5148\u8bf7\u62c6\u9664\u5168\u90e8\u6868\u53f6\u3002<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u542f\u52a8\u9065\u63a7\u5668\uff0c\u968f\u540e\u5b89\u88c5\u65e0\u4eba\u673a\u7535\u6c60\u3001\u952e\u9f20\u3001\u663e\u793a\u5668\u3002<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u4f7f\u7528\u952e\u9f20\u914d\u7f6e\u65e0\u4eba\u673a\u8fde\u63a5\u5230\u624b\u673a\u70ed\u70b9\u6216\u8005\u8def\u7531\u5668AP\uff0c\u67e5\u770b\u65e0\u4eba\u673a\u5728\u7f51\u7edc\u7684IP\u5730\u5740\uff0c\u4f7f\u7528\u7535\u8111ssh\u5de5\u5177\u8fde\u63a5\u4e0a\u65e0\u4eba\u673a\u7684ssh\uff0c\u5e76\u4e14\u4fdd\u5b58ssh\u914d\u7f6e\u5230\u7535\u8111\u3002\u53ef\u53c2\u8003\uff1a<a href=\"https:\/\/docs.liuyaorobot.com\/?docs=magpie%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bd%bf%e7%94%a8%e6%95%99%e7%a8%8b\/ssh%e4%b8%8b%e8%bd%bd%e4%b8%8e%e9%85%8d%e7%bd%ae%ef%bc%88bitvise-ssh-client%ef%bc%89\">SSH\u4e0b\u8f7d\u4e0e\u914d\u7f6e\uff08Bitvise SSH Client\uff09 \u2013 \u516d\u723b\u98de\u68a6<\/a><\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">4.\u300c \u6fc0\u5149\u96f7\u8fbe\u6d4b\u8bd5 \u300d\u5206\u522b\u542f\u52a8\u4e09\u4e2a\u7ec8\u7aef\u7a97\u53e3\uff0c\u5206\u522b\u8f93\u5165\u4ee5\u4e0b\u4e09\u6761\u6307\u4ee4\u4f7f\u7528\u6307\u4ee4\u67e5\u770b\u65e0\u4eba\u673a\u6fc0\u5149\u96f7\u8fbe\u5b9a\u4f4d\u662f\u5426\u6b63\u5e38\u3002\u53ef\u53c2\u8003\uff1a<a href=\"https:\/\/docs.liuyaorobot.com\/?docs=magpie%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bd%bf%e7%94%a8%e6%95%99%e7%a8%8b\/%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\">\u65e0\u4eba\u673a\u5b9a\u70b9\u64cd\u4f5c\u6d41\u7a0b\uff08\u5750\u6807\u786e\u8ba4\/\u624b\u52a8\u98de\u884c\uff09 \u2013 \u516d\u723b\u98de\u68a6<\/a><\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>roslaunch tutorial_basic mavros.launch\nroslaunch tutorial_navigation mid360.launch\nrostopic echo \/mavros\/local_position\/pose<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-edited-1-1024x576.png\" alt=\"\" class=\"wp-image-170\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-edited-1-1024x576.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-edited-1-300x169.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-edited-1-768x432.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-edited-1-1536x864.png 1536w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-32-edited-1.png 1608w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"857\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33-1024x857.png\" alt=\"\" class=\"wp-image-159\" 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\n\n\n<h3 class=\"wp-block-heading\"><br>5.\u300c \u6295\u653e\u673a\u6784\u6d4b\u8bd5\u300d\u65b0\u5efa\u4e24\u4e2a\u7ec8\u7aef\uff0c\u5e76\u4e14\u5728\u7b2c\u4e00\u4e2a\u8f93\u5165\uff1a<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>roslaunch tutorial_catapult catapult_driver.launch<\/code><\/pre>\n\n\n\n<p>\u6253\u5f00\u5168\u90e8\u6295\u653e\u8235\u673a\u5728\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\u8f93\u5165\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>rostopic pub \/servo\/all\/open std_msgs\/Empty \"{}\"<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"362\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-32-1024x362.png\" alt=\"\" class=\"wp-image-273\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-32-1024x362.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-32-300x106.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-32-768x271.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-32.png 1418w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"355\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-33-1024x355.png\" alt=\"\" class=\"wp-image-274\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-33-1024x355.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-33-300x104.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-33-768x266.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-33.png 1410w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5173\u95ed\u5168\u90e8\u6295\u653e\u8235\u673a\u5728\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\u8f93\u5165\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>rostopic pub \/servo\/all\/close std_msgs\/Empty \"{}\"<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\"><\/h3>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"364\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-34-1024x364.png\" alt=\"\" class=\"wp-image-275\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-34-1024x364.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-34-300x107.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-34-768x273.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-34.png 1410w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">6.\u62c6\u9664\u7535\u6c60\uff0c\u4f7f\u7528\u6570\u636e\u7ebf\u8fde\u63a5\u5230\u65e0\u4eba\u673a\u3002<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">7.\u300c \u65e0\u4eba\u673a\u98de\u63a7\u6821\u51c6\u300d\u6253\u5f00\u5730\u9762\u7ad9\u5e76\u4e14\u6267\u884c\u6821\u51c6\u6d41\u7a0b\uff1a\u9640\u87ba\u4eea\u3001\u52a0\u901f\u5ea6\u8ba1\u3001\u7f57\u76d8\u3001\u7535\u8c03\uff08\u7535\u8c03\u6821\u51c6\u9700\u8981\u70b9\u51fb\u542f\u52a8\u540e\u63d2\u5165\u7535\u6c60\uff09\u3002<\/h3>\n\n\n\n<p>1\uff09\u6253\u5f00 QGC \u5730\u9762\u7ad9\uff0c\u4f7f\u7528 USB \u7ebf\u5c06\u98de\u63a7\u8fde\u63a5\u5230\u7535\u8111\u4e0a\uff0cQGC \u4f1a\u81ea\u52a8\u8bc6\u522b\u5230\u98de\u63a7\uff0c\u5e76\u5efa\u7acb\u8fde\u63a5\u3002<\/p>\n\n\n\n<p>2\uff09\u70b9\u51fb QGC \u754c\u9762\u5de6\u4e0a\u65b9\u7684 LOGO\uff0c\u518d\u70b9\u51fb\u5f39\u51fa\u6765\u7684\u7a97\u53e3\u4e2d\u7684 Vehicle Setup \u6309\u94ae\uff0c\u8fdb\u5165\u8bbe\u7f6e\u754c\u9762\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1735630995504.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>3\uff09\u8fdb\u5165\u5730\u9762\u7ad9\u8bbe\u7f6e\u540e\u70b9\u51fb\u5de6\u4fa7\u5bfc\u822a\u680f\u4e2d\u4f20\u611f\u5668\u9009\u9879\u3002<\/p>\n\n\n\n<p>4\uff09\u70b9\u51fb\u7b2c\u4e00\u9879\u7f57\u76d8\u5e76\u786e\u5b9a\uff0c\u5f00\u59cb\u8fdb\u884c\u7f57\u76d8\u6821\u51c6\uff0c\u6309\u7167\u63d0\u793a\u7ed9\u7684\u65b9\u5411\u8f6c\u52a8\u65e0\u4eba\u673a\uff0c\u7b49\u5f85\u6307\u793a\u6846\u53d8\u7eff\u5207\u6362\u5230\u4e0b\u4e00\u4e2a\u59ff\u6001\uff0c\u76f4\u5230\u6821\u51c6\u5b8c\u516d\u4e2a\u59ff\u6001\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1735631202293.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>5\uff09\u70b9\u51fb\u7b2c\u4e8c\u9879\u9640\u87ba\u4eea\u5e76\u786e\u5b9a\uff0c\u7b49\u5f85\u8bfb\u6761\u7ed3\u675f\u663e\u793a\u6821\u51c6\u5b8c\u6bd5\u5373\u8868\u660e\u6821\u51c6\u5b8c\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1735631343681.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>6\uff09\u70b9\u51fb\u7b2c\u4e09\u9879\u52a0\u901f\u5ea6\u8ba1\u5e76\u786e\u5b9a\uff0c\u6309\u7167\u63d0\u793a\u7ed9\u51fa\u7684\u65b9\u5411\u9759\u7f6e\u65e0\u4eba\u673a\uff0c\u7b49\u5f85\u6307\u793a\u6846\u53d8\u7eff\u5207\u6362\u5230\u4e0b\u4e00\u4e2a\u59ff\u6001\uff0c\u76f4\u5230\u6821\u51c6\u5b8c\u516d\u4e2a\u59ff\u6001\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1735631546839.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>7\uff09\u70b9\u51fb\u7b2c\u56db\u9879\u6821\u5e73\u5730\u5e73\u7ebf\u5e76\u786e\u5b9a\uff0c\u7b49\u5f85\u8bfb\u6761\u7ed3\u675f\u5373\u8868\u660e\u6821\u51c6\u5b8c\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1735631608186.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>8\uff09\u6821\u51c6\u5b8c\u6210\u540e\u9700\u6309\u7167\u5982\u4e0b\u64cd\u4f5c\u91cd\u542f\u98de\u884c\u5668\uff0c\u5426\u5219\u53ef\u80fd\u5bfc\u81f4\u6821\u51c6\u4e0d\u751f\u6548\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1735631687049.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"680\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-29-1024x680.png\" alt=\"\" class=\"wp-image-263\" style=\"aspect-ratio:1.5059040910009527\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-29-1024x680.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-29-300x199.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-29-768x510.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-29.png 1074w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>10\uff09\u5728\u70b9\u51fb\u300c \u7535\u8c03\u6821\u51c6\u300d\u6309\u94ae\u540e<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-luminous-vivid-amber-color\">30\u79d2\u5185\u63d2\u4e0a\u7535\u6c60<\/mark>\uff0c\u76f4\u5230\u51fa\u73b0\u5982\u56fe\u6240\u793a\u8868\u660e\u6821\u51c6\u6210\u529f\uff0c\u6b64\u65f6\u62d4\u6389\u7535\u6c60\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"996\" height=\"708\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-30.png\" alt=\"\" class=\"wp-image-264\" style=\"aspect-ratio:1.406814256555189\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-30.png 996w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-30-300x213.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-30-768x546.png 768w\" sizes=\"auto, (max-width: 996px) 100vw, 996px\" \/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u65e0\u4eba\u673a\u9996\u6b21\u98de\u884c\u4e0e\u6d4b\u8bd5\u3002<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u6868\u53f6\u5b89\u88c5\u65b9\u5411\uff1a<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1068\" height=\"924\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39.png\" alt=\"\" class=\"wp-image-172\" style=\"aspect-ratio:1.1558884727424052;width:342px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39.png 1068w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39-300x260.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39-1024x886.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-39-768x664.png 768w\" sizes=\"auto, (max-width: 1068px) 100vw, 1068px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u786e\u4fdd\u9065\u63a7\u5668\u5df2\u7ecf\u5f00\u673a\u5e76\u4e14\u6b63\u786e\u8bbe\u7f6e\uff0c\u5b89\u88c5\u597d\u6868\u53f6\u548c\u7535\u6c60\uff0c\u6309\u4e0b\u65e0\u4eba\u673aGPS\u4e0a\u7684\u89e3\u9501\u6309\u94ae\uff0c\u5c06\u65e0\u4eba\u673a\u653e\u7f6e\u5728\u573a\u5730\u5185\u3002<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"447\" height=\"432\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-31.png\" alt=\"\" class=\"wp-image-267\" style=\"width:325px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-31.png 447w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-31-300x290.png 300w\" sizes=\"auto, (max-width: 447px) 100vw, 447px\" 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https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-37-768x595.png 768w\" sizes=\"auto, (max-width: 813px) 100vw, 813px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\u5e76\u4e14\u8f93\u5165<\/h3>\n\n\n\n<p>\u5728\u542f\u52a8\u6b64\u6307\u4ee4\u524d\u8bf7\u52a1\u5fc5\u786e\u8ba4\u9065\u63a7\u5668<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-luminous-vivid-orange-color\">\u6025\u505c\u6309\u94ae\u6307\u793a\u706f\u5df2\u7ecf\u4eae\u8d77<\/mark>\uff0c\u5426\u5219\u53ef\u80fd\u5bfc\u81f4\u4e25\u91cd\u4e8b\u6545\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>roslaunch tutorial_basic run_vel_control.launch<\/code><\/pre>\n\n\n\n<p><strong><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-black-color\">\u8bf7\u52a1\u5fc5\u79fb\u9664\u5168\u90e8\u4e0e\u98de\u884c\u5668\u8fde\u63a5\u7684\u7535\u7f06\uff08\u5982\u5c4f\u5e55\u4e0e\u6709\u7ebf\u6b3e\u952e\u76d8\u9f20\u6807\u7b49\u7b49\uff09\uff0c<\/mark><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-luminous-vivid-orange-color\">\u4eba\u5458\u52a1\u5fc5\u64a4\u79bb\u5230\u9694\u79bb\u533a\u6216\u9694\u79bb\u7f51\u68da\u5916\u3002<\/mark><\/strong><\/p>\n\n\n\n<p><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-luminous-vivid-orange-color\">\u8bf7\u518d\u6b21\u786e\u8ba4\u4eba\u5458\u5df2\u7ecf\u64a4\u79bb\u5230\u9694\u79bb\u7f51\u5916<\/mark>\uff0c\u5982\u56fe\u6309\u4e0b\u6025\u505c\u6309\u94ae\u6307\u793a\u706f\u5230\u7184\u706d\u72b6\u6001\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"771\" height=\"624\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-38.png\" alt=\"\" class=\"wp-image-285\" style=\"aspect-ratio:1.2356104074194363;width:617px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-38.png 771w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-38-300x243.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-38-768x622.png 768w\" sizes=\"auto, (max-width: 771px) 100vw, 771px\" \/><\/figure>\n\n\n\n<p>\u65e0\u4eba\u673a\u5c06\u8d77\u98de\uff08\u4e0d\u8fdb\u884c\u65b9\u5411\u63a7\u5236\uff09\uff0c\u968f\u540e\u5411\u524d\u98de\u884c1\u7c73\u5e76\u4e14\u65cb\u8f6c\u964d\u843d\uff08\u671f\u95f4\u53ef\u4ee5\u624b\u52a8\u63a5\u7ba1\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.\u624b\u52a8\u63a5\u7ba1<\/h3>\n\n\n\n<p>\u5982\u56fe\u6240\u793a\u5de6\u4fa7\u6309\u94ae\u6307\u793a\u706f\u4eae\u8d77\u5219\u4e3a\u673a\u8f7d\u7535\u8111\u81ea\u52a8\u9a7e\u9a76\u6a21\u5f0f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"846\" height=\"651\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-35.png\" alt=\"\" class=\"wp-image-282\" style=\"aspect-ratio:1.2995552117578806;width:622px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-35.png 846w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-35-300x231.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/12\/image-35-768x591.png 768w\" sizes=\"auto, (max-width: 846px) 100vw, 846px\" 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