{"id":82959,"date":"2022-12-06T14:04:16","date_gmt":"2022-12-06T06:04:16","guid":{"rendered":"https:\/\/www.tm-robot.com\/%e8%be%be%e6%98%8eros%e9%a9%b1%e5%8a%a8%e5%99%a8\/"},"modified":"2023-11-24T15:34:08","modified_gmt":"2023-11-24T07:34:08","slug":"tm-ros-driver","status":"publish","type":"page","link":"https:\/\/www.tm-robot.com.cn\/zh-hans\/tm-ros-driver\/","title":{"rendered":"\u8fbe\u660eROS\u9a71\u52a8\u5668"},"content":{"rendered":"\t\t
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\u8fbe\u660eROS\u9a71\u52a8\u5668<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tRobot Operating System\uff08\u7b80\u79f0 ROS\uff09\u662f\u4e13\u4e3a\u673a\u5668\u4eba\u5e94\u7528\u5f00\u53d1\u6240\u8bbe\u8ba1\u7684\u5f00\u6e90\u4e2d\u4ecb\u8f6f\u4ef6\uff0c\u5e76\u63d0\u4f9b\u4e30\u5bcc\u7684\u51fd\u5f0f\u5e93, \u9a71\u52a8\u5668\u548c\u5de5\u5177\uff0c\u8ba9\u5f00\u53d1\u8005\u66f4\u6709\u6548\u7387\u5730\u6253\u9020\u673a\u5668\u4eba\u5e94\u7528\u3002<\/span>\r\n\r\n\u9274\u4e8e\u6b64\uff0c\u8fbe\u660e\u673a\u5668\u4eba\u63a8\u51fa\u4e86ROS\u9a71\u52a8\u5668\uff0c\u8ba9\u5f00\u53d1\u8005\u5728 ROS \u67b6\u6784\u4e0b\u9a71\u52a8 TM \u624b\u81c2\u5e76\u53d6\u5f97\u91cd\u8981\u4fe1\u606f\uff08\u72b6\u6001\u3001EIH \u56fe\u50cf\u3001\u7b49\u7b49\uff09\uff0c\u4ece\u800c\u6253\u9020\u51fa\u6240\u9700\u7684\u5e94\u7528\u3002\u9664\u4e86\u8fbe\u660eROS\u9a71\u52a8\u5668\uff0c\u8fbe\u660e\u673a\u5668\u4eba\u4ea6\u63d0\u4f9b\u76f8\u5173\u7684\u8d44\u6e90\uff0c\u5982\uff1a\u8303\u4f8b\u7a0b\u5e8f\u3001\u9664\u9519\u7528\u7684 GUI \u5de5\u5177\u548c\u5728 Gazebo \u6216 Moveit \u4e0a\u6a21\u62df\u6240\u9700\u8981\u7684\u8d44\u6e90\u6587\u4ef6\uff08URDF\uff09\u3002\r\n<\/span>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\u4ea7\u54c1\u4ecb\u7ecd<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u8fbe\u660eROS\u9a71\u52a8\u5668 \u5305\u62ec\u4e86\u4e09\u4e2a\u4e3b\u8981\u90e8\u5206\uff1aTopic publisher\u3001Service Server \u548c Action Server\u3002
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\r\nTopic publisher \u900f\u8fc7 Ethernet slave \u8fde\u63a5 TMflow \u5e76\u641c\u96c6\u673a\u5668\u4eba\u76f8\u5173\u7684\u6570\u636e\u540e\u53d1\u5e03\u6210 topic\uff08\u5982\uff1a\u673a\u5668\u4eba\u72b6\u6001\u3001\u5173\u8282\u72b6\u6001\u3001\u672b\u7aef\u5de5\u5177\u7684\u4f4d\u7f6e\u3001\u7b49\u7b49\uff09\uff0c\u5ba2\u6237\u7684 ros node \u53ef\u8ba2\u9605\u8fd9\u4e9b topics \u800c\u53d6\u5f97\u8d44\u6599\u3002
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\r\nService Server \u7684\u7528\u9014\u4e3a\u63a7\u5236\u624b\u81c2\u8fd0\u52a8\uff0c\u63d0\u4f9b\u4e86\u5404\u79cd\u8fd0\u52a8\u6307\u4ee4 tm_msg\u3002\u5f53\u624b\u81c2\u9879\u76ee\u8fd0\u884c\u81f3 Listen Node \u65f6\uff0c\u5ba2\u6237\u7684 ros node \u53ef\u900f\u8fc7 Service Server \u7ed9 Listen node \u4e0b\u6307\u4ee4\u5e76\u9a71\u52a8\u624b\u81c2\u3002
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\r\nAction Server \u63a5\u53e3\u7684\u4e3b\u8981\u5de5\u4f5c\u662f\u628a MoveIt \u7b97\u51fa\u7684\u8f68\u8ff9\u8f6c\u8bd1\u6210\u624b\u81c2\u7684\u8fd0\u52a8\u6307\u4ee4\u5e76\u9a71\u52a8\u624b\u81c2\u5b8c\u6210\u8be5\u8f68\u8ff9\u3002
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\r\n\u53e6\u5916\uff0c\u8fbe\u660e\u673a\u5668\u4eba\u540c\u65f6\u63d0\u4f9b\u9488\u5bf9 ROS1 \u6216 ROS2 \u4e0d\u540c\u7248\u672c\u7684 TM ROS Driver\uff0c\u4f7f\u5f97\u5e94\u7528\u5f00\u53d1\u66f4\u5177\u5f39\u6027\u3002\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u89c2\u770bTM ROS Driver\u5e94\u7528\u5f71\u7247<\/strong><\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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Action Server<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 \u4e0e MoveIt \u6574\u5408\u6240\u7528\u7684\u5de5\u4f5c\u63a5\u53e3\uff0c\u89c1 \/follow_joint_trajectory\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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Topic Publisher<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u2022 \u4e8e \/feedback_states<\/em> \u53d1\u5e03\u56de\u9988\u72b6\u6001
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\u2022 \u4e8e \/joint_states<\/em> \u53d1\u5e03\u5173\u8282\u72b6\u6001<\/p>

\u2022 \u4e8e \/tool_pose<\/em> \u53d1\u5e03\u672b\u7aef\u5de5\u5177\u4f4d\u7f6e<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Service Server<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022\u00a0\/tm_driver\/send_script<\/em> \uff08\u89c1 tm_msgs\/srv\/SendScript.srv<\/em>\uff09\uff1a\r\n\u5bf9 Listen node \u53d1\u9001 robot script\uff0c\u300aExpression Editor and Listen Node\u300b\u3002\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 \/tm_driver\/set_event<\/em> \uff08\u89c1 tm_msgs\/srv\/SetEvent.srv<\/em>\uff09\uff1a\r\n\u5bf9 Listen node \u53d1\u9001 Stop\u3001Pause \u6216 Resume \u6307\u4ee4\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 \/tm_driver\/set_io<\/em>\uff08\u89c1 tm_msgs\/srv\/SetIO.srv<\/em>\uff09\uff1a\r\n\u5bf9 Listen node \u53d1\u9001\u6570\u5b57\u6216\u6a21\u62df\u8f93\u51fa\u503c\u7684\u6307\u4ee4\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 _\/tm_driver\/set_position<\/em>\uff08\u89c1 tm_msgs\/srv\/SetPosition.srv<\/em>\uff09\uff1a\r\n\u5bf9 Listen node \u53d1\u9001\u8fd0\u52a8\u6307\u4ee4\uff0c\u53e5\u62ec PTP\u3001LINE\u3001CIRC \u548c PLINE\uff0c\u8be6\u60c5\u8bf7\u770b\u8bf4\u660e\u4e66\u300aExpression Editor and Listen Node\u300b\u3002\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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ROS \u7248\u672c<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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TM ROS Driver \u7248\u672c<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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\u652f\u63f4 TMvision<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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\n\t\t\t\t\t\t\tROS Noetic Ninjemys<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tTM ROS1 Noetic driver<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u039f\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\n\t\t\t\t\t\t\tROS Melodic Morenia<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tTM ROS1 Melodic driver<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t_\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\n\t\t\t\t\t\t\tROS 2 Foxy Fitzroy<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tTM ROS2 Foxy driver<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u039f\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\n\t\t\t\t\t\t\tROS 2 Dashing Diademata<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tTM ROS2 Dashing driver<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u039f\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\u4e0b\u8f7d\u8fbe\u660eROS\u9a71\u52a8\u5668 (Github)\t\t\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t<\/span>\n\t\t\t<\/a>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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