{"id":114176,"date":"2024-06-27T07:41:12","date_gmt":"2024-06-26T23:41:12","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&p=114176"},"modified":"2024-06-27T15:47:13","modified_gmt":"2024-06-27T07:47:13","slug":"installation-and-basic-usage-of-tm-ros-driver_tw","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/zh-hant\/docs\/installation-and-basic-usage-of-tm-ros-driver_tw\/","title":{"rendered":"TM ROS DRIVER \u7684\u5b89\u88dd\u548c\u57fa\u672c\u4f7f\u7528"},"content":{"rendered":"

\u6b64\u6587\u7ae0\u4e4b\u7bc4\u4f8b\u9069\u7528\u65bc\u4e0b\u5217\u689d\u4ef6:<\/p>\n

TMflow \u8edf\u9ad4\u7248\u672c\uff1a 2.16 \u6216\u4ee5\u4e0a\u3002<\/p>\n

TM \u624b\u81c2\u786c\u9ad4\u7248\u672c\uff1a\u50c5\u63d0\u4f9b HW3.2 \u6216\u4ee5\u4e0a\u3002<\/p>\n

ROS \u7248\u672c\uff1aROS 2 Foxy<\/p>\n

\u8acb\u6ce8\u610f\uff0c\u65b0\u820a\u7248\u672c\u4e4b\u5dee\u7570\u53ef\u80fd\u5c0e\u81f4\u64cd\u4f5c\u4ecb\u9762\u3001\u6b65\u9a5f\u4e0a\u6703\u6709\u6240\u5dee\u7570<\/p>\n

\n

 <\/p>\n

\u6982\u8ff0<\/h1>\n

Robot Operating System\uff08ROS\uff09\u662f\u4e00\u500b\u958b\u6e90\u7684\u6a5f\u5668\u4eba\u4e2d\u4ecb\u8edf\u9ad4\uff0c\u5305\u542b\u8c50\u5bcc\u7684\u5eab\u3001\u9a45\u52d5\u7a0b\u5f0f\u548c\u5de5\u5177\uff0c\u65e8\u5728\u5e6b\u52a9\u66f4\u9ad8\u6548\u5730\u69cb\u5efa\u6a5f\u5668\u4eba\u61c9\u7528\u7a0b\u5f0f\u3002\u70ba\u4e86\u652f\u6301 ROS\uff0cTechman Robot \u63a8\u51fa\u4e86 TM ROS Driver\uff0c\u4f7f\u958b\u767c\u4eba\u54e1\u53ef\u4ee5\u901a\u904e\u904b\u52d5\u63a7\u5236\u548c\u6578\u64da\u7372\u53d6\uff08\u72c0\u614b\u3001EIH \u76f8\u6a5f\u7684\u5716\u50cf\u7b49\uff09\u4f7f\u7528 TM Robot \u69cb\u5efa\u57fa\u65bc ROS \u7684\u61c9\u7528\u7a0b\u5f0f\u3002<\/p>\n

\u7528\u6236\u53ef\u4ee5\u8a2a\u554f\u6211\u5011\u7684 GitHub\uff08https:\/\/github.com\/TechmanRobotInc<\/a>\uff09\uff0c\u5c07\u6240\u9700\u7684 TM ROS Driver \u5132\u5b58\u5eab\u8907\u88fd\u5230\u5de5\u4f5c\u76ee\u9304\u3002\u4ee5\u4e0b\u662f\u6839\u64da\u4e0d\u540c\u7684 ROS \u7248\u672c\u548c TMflow \u7248\u672c\u63d0\u4f9b\u7684\u4e0d\u540c\u7248\u672c TM ROS DRIVER\u7684\u6458\u8981\uff1a<\/p>\n

\"\"<\/a><\/p>\n

 <\/p>\n

\u9019\u4efd\u6280\u8853\u6587\u4ef6\u662f\u57fa\u65bc TM2 ROS2 Foxy \u9a45\u52d5\u7a0b\u5f0f\u548c TMflow 2.16 \u64b0\u5beb\u7684\u3002<\/p>\n

TMflow\u4e0a\u7684\u524d\u7f6e\u6e96\u5099<\/h1>\n

\u5728\u4f7f\u7528TM ROS Driver\u4e4b\u524d\uff0c\u4f7f\u7528\u8005\u9700\u8981\u78ba\u4fdd\u6a5f\u5668\u4eba\u5df2\u6b63\u78ba\u914d\u7f6e\u3002<\/p>\n

    \n
  1. \u7db2\u8def\u8a2d\u5b9a<\/u><\/li>\n<\/ol>\n

    \u5c07\u60a8\u7684\u96fb\u8166\u548c\u6a5f\u5668\u4eba\u7528\u4e59\u592a\u7db2\u7dda\u9023\u63a5\u3002\u5728\u6a5f\u5668\u4eba\u4e0a\uff0c\u9032\u5165System\uff08\u7cfb\u7d71\uff09\u2192 Network Setting\uff08\u7db2\u8def\u8a2d\u5b9a\uff09\uff0c\u555f\u7528\u4e26\u8a2d\u7f6e\u975c\u614bIP\uff0c\u4ee5\u4fbf\u6240\u6709\u8a2d\u5099\u5171\u4eab\u540c\u4e00\u500b\u7db2\u57df\u3002<\/p>\n

    \"\"<\/a><\/p>\n

    \"\"<\/a><\/p>\n

    2. Ethernet Slave<\/u><\/p>\n

    \u70ba\u4e86\u767c\u5e03ROS topics\uff08\u5982 feedback_states\uff09\uff0cTM ROS \u9a45\u52d5\u7a0b\u5e8f\u9700\u8981\u5f9e\u6a5f\u5668\u4ebaEthernet Slave\u8b80\u53d6\u6307\u5b9a\u7684\u6578\u64da\uff0c\u56e0\u6b64\u5728\u4f7f\u7528 TM ROS \u9a45\u52d5\u7a0b\u5e8f\u4e4b\u524d\uff0c\u7528\u6236\u9700\u8981\u6b63\u78ba\u914d\u7f6e\u5c08\u7528\u7684\u8cc7\u6599\u8868\u3002<\/p>\n

     <\/p>\n

    \u9996\u5148\uff0c\u4e0b\u8f09\u5c0d\u61c9\u7684\u8cc7\u6599\u8868\u50b3\u8f38\u6587\u4ef6<\/u><\/span>\uff08Data_Table_Setting_TM2_ROS_Default.xml\uff09\uff0c\u5c07\u5176\u653e\u7f6e\u5728 USB \u8a2d\u5099\u4e0a\uff08\u8def\u5f91\u5982\u4e0b\uff1a\\TM_Export{folder}\\EthSlave\\Transmit\uff09\uff0c\u4e26\u5c07\u5176\u5c0e\u5165\u5230\u6a5f\u5668\u4eba\u4e2d\u3002<\/p>\n

    \"\"<\/a><\/p>\n

    \u7136\u5f8c\uff0c\u524d\u5f80Configuration –> <\/strong>Connection –> Ethernet Slaves –> Data Table Setting<\/strong>.\u3002\u6253\u958b\u50b3\u8f38\u6587\u4ef6\uff0c\u4fdd\u5b58\u4e26\u555f\u7528Ethernet Slave\u3002<\/p>\n

    \"\"<\/a><\/p>\n

    \"\"<\/a><\/p>\n

    3. Listen Node (optional)<\/u><\/p>\n

    \u70ba\u4e86\u4f7f\u7528ROS\u670d\u52d9\u9032\u884c\u6a5f\u5668\u4eba\u904b\u52d5\u63a7\u5236\uff0c\u9700\u8981\u5728\u6a5f\u5668\u4eba\u9805\u76ee\u4e2d\u904b\u884cListen Node\u3002\u4f8b\u5982\uff0c\u69cb\u5efa\u5982\u4e0b\u7684\u6d41\u7a0b\u9805\u76ee\u4e26\u904b\u884c\u5b83\u3002<\/p>\n

    \"\"<\/p>\n

    TM ROS Driver \u7684\u57fa\u672c\u4f7f\u7528<\/h1>\n

    \u9996\u5148\uff0c\u8a2d\u7f6e\u60a8\u96fb\u8166\u7684\u6b63\u78ba\u975c\u614bIP\uff0c\u78ba\u4fdd\u5b83\u8207\u6a5f\u5668\u4eba\u8655\u65bc\u540c\u4e00\u7db2\u57df\u3002\u60a8\u53ef\u4ee5\u4f7f\u7528 ping \u547d\u4ee4\u6aa2\u67e5\u8207\u6a5f\u5668\u4ebaIP\u7684\u9023\u63a5\u60c5\u6cc1\u3002<\/p>\n

    \"\"<\/a><\/p>\n

    \"\"<\/a><\/p>\n

    \u8acb\u78ba\u4fdd\u60a8\u7684\u96fb\u8166\u5df2\u8a2d\u5b9a\u597dROS 2\u74b0\u5883 (for example: Debian packages for ROS 2 Foxy<\/a>). \u5efa\u7acbTM ROS Driver repository\uff0c\u8acb\u5728\u76ee\u6a19\u5de5\u4f5c\u7a7a\u9593\u4e2d\u6253\u958b\u7d42\u7aef\u6a5f\u3002<\/p>\n

    \"\"<\/a><\/p>\n

    \u7136\u5f8c\uff0c\u904b\u884c\u9a45\u52d5\u7a0b\u5e8f\u4e26\u9023\u63a5\u5230\u6a5f\u5668\u4eba\u3002<\/p>\n

    \"\"<\/a><\/p>\n

    \u5728\u9019\u500b\u4f8b\u5b50\u4e2d\uff0c\u7531\u65bc\u6a5f\u5668\u4eba\u7684 IP \u662f 192.168.10.2\uff0c\u6307\u4ee4\u61c9\u8a72\u662f ros2 run tm_driver tm_driver robot_ip:=192.168.10.2<\/em>\u3002<\/p>\n

    \u8981\u6aa2\u67e5 TM ROS Driver \u662f\u5426\u6b63\u5e38\u904b\u4f5c\uff0c\u60a8\u53ef\u4ee5\u6253\u958b\u4e00\u500b\u65b0\u7684\u5de5\u4f5c\u5340\u7d42\u7aef\u6a5f\uff0c\u7136\u5f8c\u5617\u8a66\u57f7\u884c\u6307\u4ee4 ros2 topic list<\/p>\n

    \"\"<\/a><\/p>\n

    \u4e00\u65e6 TM ROS Driver \u904b\u4f5c\u6b63\u5e38\uff0c\u60a8\u53ef\u4ee5\u958b\u59cb\u57f7\u884c\u8a02\u95b1 TM ROS \u4e3b\u984c\u6216\u8acb\u6c42 TM ROS \u670d\u52d9\u7684\u7a0b\u5f0f\u3002\u66f4\u591a\u8a73\u7d30\u8cc7\u8a0a\uff0c\u8acb\u8a2a\u554f Techman Page on GitHub<\/a>\u3002<\/p>\n

     <\/p>\n

     <\/p>\n

     <\/p>\n

     <\/p>\n

     <\/p>\n","protected":false},"excerpt":{"rendered":"

    \u6b64\u6587\u7ae0\u4e4b\u7bc4\u4f8b\u9069\u7528\u65bc\u4e0b\u5217\u689d\u4ef6: TMflow \u8edf\u9ad4\u7248\u672c\uff1a 2.16 \u6216\u4ee5\u4e0a\u3002 TM \u624b\u81c2\u786c\u9ad4\u7248\u672c\uff1a\u50c5\u63d0\u4f9b HW3 […]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4606],"doc_tag":[],"acf":[],"yoast_head":"\nTM ROS DRIVER \u7684\u5b89\u88dd\u548c\u57fa\u672c\u4f7f\u7528 | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"zh_TW\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"TM ROS DRIVER \u7684\u5b89\u88dd\u548c\u57fa\u672c\u4f7f\u7528 | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"\u6b64\u6587\u7ae0\u4e4b\u7bc4\u4f8b\u9069\u7528\u65bc\u4e0b\u5217\u689d\u4ef6: TMflow \u8edf\u9ad4\u7248\u672c\uff1a 2.16 \u6216\u4ee5\u4e0a\u3002 TM 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