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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<p><strong>\u7b2c\u4e09\u6b65\uff1a\u7535\u673a\u65e0\u6cd5\u542f\u52a8\u65f6\u68c0\u67e5\u63a5\u7ebf<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u68c0\u67e5\u7535\u8c03\u4fe1\u53f7\u7ebf\u662f\u5426\u63d2\u5728\u98de\u63a7\u6b63\u786e\u7684\u7535\u673a\u8f93\u51fa\u53e3<\/li>\n\n\n\n<li>\u68c0\u67e5\u4fe1\u53f7\u7ebf\u662f\u5426\u63d2\u7d27\uff0c\u5730\u7ebf\u662f\u5426\u8fde\u63a5<\/li>\n\n\n\n<li>\u68c0\u67e5\u7535\u8c03\u7535\u6e90\u8f93\u5165\u662f\u5426\u6b63\u5e38\uff08migpie360\u7cfb\u5217\u901a\u5e38\u9700\u8981\u81f3\u5c118V\u7535\u538b\u624d\u80fd\u542f\u52a8\uff09<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7b2c\u56db\u6b65\uff1a\u4ecd\u65e0\u6cd5\u542f\u52a8\u5219\u6267\u884c\u7535\u8c03\u884c\u7a0b\u6821\u51c6<\/strong><\/p>\n\n\n\n<p>\u91cd\u65b0\u4e0a\u7535\u6d4b\u8bd5\u7535\u673a\u54cd\u5e94\u662f\u5426\u6b63\u5e38<\/p>\n\n\n\n<p><strong>\u62c6\u4e0b\u87ba\u65cb\u6868<\/strong><\/p>\n\n\n\n<p>\u6267\u884c\u6cb9\u95e8\u884c\u7a0b\u6821\u51c6\uff0c\u63a5\u901a\u98de\u884c\u5668\u7535\u6e90<\/p>\n\n\n\n<p>\u542c\u5230\u63d0\u793a\u97f3\u540e\uff0c\u7b49\u5f85\u5730\u9762\u7ad9\u786e\u8ba4\u53ef\u4ee5\u62d4\u4e0b\u7535\u6e90<\/p>\n\n\n\n<p>\u7535\u8c03\u53d1\u51fa\u786e\u8ba4\u97f3\uff0c\u6821\u51c6\u5b8c\u6210\uff0c\u79fb\u9664\u7535\u6e90<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u4e0a\u4f4d\u673a\u76f8\u5173\u6d4b\u8bd5<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u6fc0\u5149\u96f7\u8fbe\u6d4b\u8bd5<\/h3>\n\n\n\n<p>\u6253\u5f00\u9065\u63a7\u5668\u7535\u6e90\u3001\u63a5\u901a\u65e0\u4eba\u673a\u7535\u6e90\uff0c\u786e\u8ba4\u65e0\u4eba\u673a\u8fde\u63a5\u5230\u624b\u673a\u70ed\u70b9\u540e\u5efa\u7acbssh\u8fde\u63a5\u3002<\/p>\n\n\n\n<p>\u5c06\u98de\u884c\u5668\u653e\u7f6e\u5728\u573a\u5730\u8d77\u98de\u70b9\uff0c\u5e76\u4e14\u786e\u4fdd\u5df2\u7ecf\u62c6\u5378\u6868\u53f6\uff0c\u786e\u4fdd\u98de\u884c\u5668\u65b9\u5411\u548c\u4f4d\u7f6e\u5b8c\u5168\u51c6\u786e\u540e\u5f00\u59cb\u4e0b\u4e00\u6b65\u3002<\/p>\n\n\n\n<p>\u5206\u522b\u542f\u52a8\u4e09\u4e2assh\u8fde\u63a5\u540e\u7684\u7ec8\u7aef\uff0c\u4f9d\u6b21\u5206\u522b\u8f93\u5165\u540e\u56de\u8f66\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_basic mavros.launch<br>roslaunch tutorial_navigation mid360.launch<br>rostopic echo \/mavros\/local_position\/pose<\/pre>\n\n\n\n<p>\u89c2\u5bdfssh\u7ec8\u7aef\u4e09\u4e2d\u8f93\u51fa\u7684\u98de\u884c\u5668\u4f4d\u7f6e\u4e0e\u59ff\u6001\u4fe1\u606f\uff0c\u4ee5\u53ca\u6fc0\u5149\u96f7\u8fbe\u662f\u5426\u5b58\u5728\u62a5\u9519\uff08\u786e\u4fdd\u6570\u636e\u4e00\u76f4\u5728\u5237\u65b0\uff0c\u5426\u5219\u9700\u8981\u4fee\u6539mid360\u6fc0\u5149\u96f7\u8fbeSDK\u5185IP\u5730\u5740\u53c2\u6570\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"857\" data-id=\"159\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2025\/11\/image-33-1024x857.png\" alt=\"\" class=\"wp-image-159\" style=\"width:786px;height:auto\" 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<\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u6295\u653e\u88c5\u7f6e\u6d4b\u8bd5<\/h3>\n\n\n\n<p>\u6253\u5f00\u4e24\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">#\u7b2c\u4e00\u4e2a\u7ec8\u7aef\u542f\u52a8\u6295\u653e\u88c5\u7f6e\u8282\u70b9<br>roslaunch tutorial_catapult catapult_driver.launch<br><br>#\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\u8fd0\u884c<br>#\u6253\u5f00\u5168\u90e8\u8235\u673a\u95e8<br>rostopic pub \/servo\/all\/open std_msgs\/Empty<br>##\u5173\u95ed\u5168\u90e8\u8235\u673a\u95e8<br>rostopic pub \/servo\/all\/close std_msgs\/Empty<\/pre>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"459\" src=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2026\/03\/image-1-1024x459.png\" alt=\"\" class=\"wp-image-343\" style=\"aspect-ratio:2.2309831099306967;width:808px;height:auto\" srcset=\"https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2026\/03\/image-1-1024x459.png 1024w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2026\/03\/image-1-300x134.png 300w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2026\/03\/image-1-768x344.png 768w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2026\/03\/image-1-1536x688.png 1536w, https:\/\/docs.liuyaorobot.com\/wp-content\/uploads\/2026\/03\/image-1-2048x917.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u6444\u50cf\u5934\u6d4b\u8bd5<\/h3>\n\n\n\n<p>\u5c06\u6444\u50cf\u5934\u6570\u636e\u7ebf\u62d4\u4e0b\u63d2\u5165\u5230\u7535\u8111\u7aef\uff0c\u6253\u5f00\u76f8\u673a\u5e94\u7528\uff0c\u6309\u4e0b\u65cb\u8f6c\u6444\u50cf\u673a\u6216\u8005\u5207\u6362\u6444\u50cf\u673a\u6309\u94ae\uff0c\u5207\u6362\u5230\u8981\u68c0\u67e5\u7684\u6444\u50cf\u673a\uff0c\u968f\u540e\u68c0\u67e5\u56fe\u50cf\u662f\u5426\u6e05\u6670\uff0c\u5bf9\u7126\u662f\u5426\u6b63\u5e38\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u98de\u884c\u6d4b\u8bd5<\/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<p>\u5982\u56fe\u786e\u4fdd\u6309\u4e0b\u9065\u63a7\u5668\u5de6\u4fa7\u6025\u505c\u6309\u94ae\u6307\u793a\u706f\u5230\u4eae\u8d77\u72b6\u6001\u3002\uff08\u6bcf\u6b21\u6309\u4e0b\u65f6\u65e0\u4eba\u673a\u4f1a\u53d1\u51fa\u6025\u505c\u63d0\u793a\u97f3\uff0c\u8bf7\u52a1\u5fc5\u542c\u6e05\u695a\u63d0\u793a\u97f3\u662f\u5426\u6765\u81ea\u76ee\u524d\u6b63\u5728\u63a7\u5236\u7684\u65e0\u4eba\u673a\uff0c\u9632\u6b62\u610f\u5916\uff09<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u624b\u52a8\u9a7e\u9a76\u65e0\u4eba\u673a<\/h3>\n\n\n\n<p><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>\u4eba\u5458\u52a1\u5fc5\u64a4\u79bb\u5230\u9694\u79bb\u533a\u6216\u9694\u79bb\u7f51\u68da\u5916\u3002<\/p>\n\n\n\n<p>\u4f7f\u7528\u81ea\u7a33\u6216\u5b9a\u9ad8\u6a21\u5f0f\u8d77\u98de\uff0c\u786e\u5b9a\u98de\u884c\u5668\u53ef\u4ee5\u6b63\u5e38\u64cd\u7eb5\uff0c\u968f\u540e\u964d\u843d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.\u81ea\u52a8\u9a7e\u9a76\u4eea\u6d4b\u8bd5\uff0c\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\u6025\u505c\u6309\u94ae\u6307\u793a\u706f\u5df2\u7ecf\u4eae\u8d77\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><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>\u4eba\u5458\u52a1\u5fc5\u64a4\u79bb\u5230\u9694\u79bb\u533a\u6216\u9694\u79bb\u7f51\u68da\u5916\u3002<\/p>\n\n\n\n<p>\u8bf7\u518d\u6b21\u786e\u8ba4\u4eba\u5458\u5df2\u7ecf\u64a4\u79bb\u5230\u9694\u79bb\u7f51\u5916\uff0c\u6309\u4e0b\u6025\u505c\u6309\u94ae\u6307\u793a\u706f\u5230\u7184\u706d\u72b6\u6001\u3002<\/p>\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\">5.\u624b\u52a8\u63a5\u7ba1<\/h3>\n\n\n\n<p>\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<p>\u5de6\u4fa7\u6309\u94ae\u6307\u793a\u706f\u7184\u706d\u5219\u4e3a\u624b\u52a8\u64cd\u7eb5\u6a21\u5f0f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u5c01\u7bb1\u524d\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","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u4e0b\u4f4d\u98de\u63a7\u76f8\u5173\u6d4b\u8bd5 [&hellip;]<\/p>\n","protected":false},"author":7,"featured_media":0,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-336","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/posts\/336","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"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=336"}],"version-history":[{"count":8,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/posts\/336\/revisions"}],"predecessor-version":[{"id":398,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/posts\/336\/revisions\/398"}],"wp:attachment":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=336"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=336"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=336"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}