{"id":82376,"date":"2022-12-06T14:04:16","date_gmt":"2022-12-06T06:04:16","guid":{"rendered":"https:\/\/www.tm-robot.com\/tm-ros-driver\/"},"modified":"2023-11-12T17:27:36","modified_gmt":"2023-11-12T09:27:36","slug":"tm-ros-driver","status":"publish","type":"page","link":"https:\/\/www.tm-robot.com.cn\/zh-hant\/tm-ros-driver\/","title":{"rendered":"TM ROS Driver"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-page\" data-elementor-id=\"82376\" class=\"elementor elementor-82376 elementor-80329\">\n\t\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-fca8585 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"fca8585\" data-element_type=\"section\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-b53c6fe\" data-id=\"b53c6fe\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-507ac9a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"507ac9a\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-8055eca\" data-id=\"8055eca\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-beb9d4b elementor-widget elementor-widget-heading\" data-id=\"beb9d4b\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">TM ROS Driver<\/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<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-596bc6c\" data-id=\"596bc6c\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-2ec292a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"2ec292a\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-b083c15\" data-id=\"b083c15\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-b14f94a elementor-widget elementor-widget-text-editor\" data-id=\"b14f94a\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p><span style=\"font-size: 14.72px;\">Robot Operating System\uff08\u7c21\u7a31 ROS\uff09\u662f\u5c08\u70ba\u6a5f\u5668\u4eba\u61c9\u7528\u958b\u767c\u6240\u8a2d\u8a08\u7684\u958b\u6e90\u4e2d\u4ecb\u8edf\u9ad4\uff0c\u4e26\u63d0\u4f9b\u8c50\u5bcc\u7684\u51fd\u5f0f\u5eab, \u9a45\u52d5\u5668\u548c\u5de5\u5177\uff0c\u8b93\u958b\u767c\u8005\u66f4\u6709\u6548\u7387\u5730\u6253\u9020\u6a5f\u5668\u4eba\u61c9\u7528\u3002<\/span><\/p>\r\n\r\n<p><span style=\"font-size: 14.72px;\">\u6709\u9451\u5982\u6b64\uff0c\u9054\u660e\u6a5f\u5668\u4eba\u63a8\u51fa\u4e86 TM ROS Driver\uff0c\u8b93\u958b\u767c\u8005\u5728 ROS \u67b6\u69cb\u4e0b\u9a45\u52d5 TM \u624b\u81c2\u4e26\u53d6\u5f97\u91cd\u8981\u8cc7\u8a0a\uff08\u72c0\u614b\u3001EIH \u5716\u50cf\u3001\u7b49\u7b49\uff09\uff0c\u5f9e\u800c\u6253\u9020\u4e00\u6d41\u7684\u61c9\u7528\u3002\u9664\u4e86 TM ROS Driver\uff0c\u9054\u660e\u6a5f\u5668\u4eba\u4ea6\u63d0\u4f9b\u76f8\u95dc\u7684\u8cc7\u6e90\uff0c\u5982\uff1a\u7bc4\u4f8b\u7a0b\u5f0f\u3001\u9664\u932f\u7528\u7684 GUI \u5de5\u5177\u548c\u5728 Gazebo \u6216 Moveit \u4e0a\u6a21\u64ec\u6240\u9700\u8981\u7684\u8cc7\u6e90\u6a94\u6848\uff08URDF\uff09\u3002<\/span><\/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<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-f3bf37c\" data-id=\"f3bf37c\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-6143a9d elementor-widget elementor-widget-image\" data-id=\"6143a9d\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img width=\"566\" height=\"215\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/ROS_diagram_img.png\" class=\"attachment-large size-large\" alt=\"\" loading=\"lazy\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/ROS_diagram_img.png 566w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/ROS_diagram_img-300x114.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/ROS_diagram_img-360x137.png 360w\" sizes=\"(max-width: 566px) 100vw, 566px\" \/>\t\t\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\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-1e917d1 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1e917d1\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-09ce856\" data-id=\"09ce856\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-8f4e63f elementor-widget elementor-widget-heading\" data-id=\"8f4e63f\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u7522\u54c1\u4ecb\u7d39<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-12d5ca9 elementor-widget elementor-widget-text-editor\" data-id=\"12d5ca9\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>TM ROS Driver \u5305\u62ec\u4e86\u4e09\u500b\u4e3b\u8981\u90e8\u5206\uff1aTopic publisher\u3001Service Server \u548c Action Server\u3002<\/br><\/p>\r\n\r\n<p>Topic publisher \u900f\u904e Ethernet slave \u9023\u63a5 TMflow \u4e26\u641c\u96c6\u6a5f\u5668\u4eba\u76f8\u95dc\u7684\u8cc7\u6599\u5f8c\u767c\u5e03\u6210 topic\uff08\u5982\uff1a\u6a5f\u5668\u4eba\u72c0\u614b\u3001\u95dc\u7bc0\u72c0\u614b\u3001\u672b\u7aef\u5de5\u5177\u7684\u4f4d\u7f6e\u3001\u7b49\u7b49\uff09\uff0c\u5ba2\u6236\u7684 ros node \u53ef\u8a02\u95b1\u9019\u4e9b topics \u800c\u53d6\u5f97\u8cc7\u6599\u3002<\/br><\/p>\r\n\r\n<p>Service Server \u7684\u7528\u9014\u70ba\u63a7\u5236\u624b\u81c2\u904b\u52d5\uff0c\u63d0\u4f9b\u4e86\u5404\u7a2e\u904b\u52d5\u6307\u4ee4 tm_msg\u3002\u7576\u624b\u81c2\u5c08\u6848\u904b\u884c\u81f3 Listen Node \u6642\uff0c\u5ba2\u6236\u7684 ros node \u53ef\u900f\u904e Service Server \u7d66 Listen node \u4e0b\u6307\u4ee4\u4e26\u9a45\u52d5\u624b\u81c2\u3002<\/br><\/p>\r\n\r\n<p>Action Server \u4ecb\u9762\u7684\u4e3b\u8981\u5de5\u4f5c\u662f\u628a MoveIt \u7b97\u51fa\u7684\u8ecc\u8de1\u8f49\u8b6f\u6210\u624b\u81c2\u7684\u904b\u52d5\u6307\u4ee4\u4e26\u9a45\u52d5\u624b\u81c2\u5b8c\u6210\u8a72\u8ecc\u8de1\u3002<\/br><\/p>\r\n\r\n<p>\u53e6\u5916\uff0c\u9054\u660e\u6a5f\u5668\u4eba\u540c\u6642\u63d0\u4f9b\u91dd\u5c0d ROS1 \u6216 ROS2 \u4e0d\u540c\u7248\u672c\u7684 TM ROS Driver\uff0c\u4f7f\u5f97\u61c9\u7528\u958b\u767c\u66f4\u5177\u5f48\u6027\u3002<\/br><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4774341 elementor-widget elementor-widget-text-editor\" data-id=\"4774341\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/youtu.be\/LuKE2wVNn5Y\"><strong>\u89c0\u770bTM ROS Driver\u61c9\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<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-5331771\" data-id=\"5331771\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-e2f0047 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"e2f0047\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-8f17df7\" data-id=\"8f17df7\" data-element_type=\"column\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-cc79163 elementor-widget elementor-widget-heading\" data-id=\"cc79163\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h5 class=\"elementor-heading-title elementor-size-default\">Action Server<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-159d1fa elementor-widget elementor-widget-text-editor\" data-id=\"159d1fa\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\u2022 \u8207 MoveIt \u6574\u5408\u6240\u7528\u7684\u5de5\u4f5c\u4ecb\u9762\uff0c\u898b <em>\/follow_joint_trajectory<\/em>\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<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-3123ca7\" data-id=\"3123ca7\" data-element_type=\"column\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-f3a6f57 elementor-widget elementor-widget-heading\" data-id=\"f3a6f57\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h5 class=\"elementor-heading-title elementor-size-default\">Topic Publisher<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-168adbc elementor-widget elementor-widget-text-editor\" data-id=\"168adbc\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>\u2022 <span style=\"font-size: 14.72px;\">\u65bc<em> \/feedback_states<\/em> \u767c\u5e03\u56de\u994b\u72c0\u614b\r\n\u56de\u994b\u72c0\u614b\u5305\u62ec\uff1a\u624b\u81c2\u4f4d\u7f6e\u3001\u932f\u8aa4\u78bc\u3001IO \u72c0\u614b\u3001\u7b49\u7b49\uff08\u898b<em> tm_msgs\/msg\/FeedbackState.msg<\/em>\uff09<\/span><\/p>\r\n\r\n<p>\u2022 <span style=\"font-size: 14.72px;\">\u65bc <em>\/joint_states<\/em> \u767c\u5e03\u95dc\u7bc0\u72c0\u614b<\/span><\/p>\r\n\r\n<p>\u2022 <span style=\"font-size: 14.72px;\">\u65bc<em> \/tool_pose<\/em> \u767c\u5e03\u672b\u7aef\u5de5\u5177\u4f4d\u7f6e<\/span><\/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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-63b7f2a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"63b7f2a\" data-element_type=\"section\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-inner-column elementor-element elementor-element-eb667e9\" data-id=\"eb667e9\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-80cb566 elementor-widget elementor-widget-heading\" data-id=\"80cb566\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h5 class=\"elementor-heading-title elementor-size-default\">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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-28b4f89 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"28b4f89\" data-element_type=\"section\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-0aef688\" data-id=\"0aef688\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-36b09c2 elementor-widget elementor-widget-text-editor\" data-id=\"36b09c2\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\u2022 <em>\/tm_driver\/send_script<\/em> \uff08\u898b <em>tm_msgs\/srv\/SendScript.srv<\/em>\uff09\uff1a\r\n\u5c0d Listen node \u767c\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<div class=\"elementor-element elementor-element-bab01bd elementor-widget elementor-widget-text-editor\" data-id=\"bab01bd\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\u2022 <em>\/tm_driver\/set_event<\/em> \uff08\u898b <em>tm_msgs\/srv\/SetEvent.srv<\/em>\uff09\uff1a\r\n\u5c0d Listen node \u767c\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<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-dd06c9c\" data-id=\"dd06c9c\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-6452c81 elementor-widget elementor-widget-text-editor\" data-id=\"6452c81\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\u2022 <em>\/tm_driver\/set_io<\/em>\uff08\u898b<em> tm_msgs\/srv\/SetIO.srv<\/em>\uff09\uff1a\r\n\u5c0d Listen node \u767c\u9001\u6578\u4f4d\u6216\u985e\u6bd4\u8f38\u51fa\u503c\u7684\u6307\u4ee4\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e52cf48 elementor-widget elementor-widget-text-editor\" data-id=\"e52cf48\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\u2022 <em>_\/tm_driver\/set_position<\/em>\uff08\u898b <em>tm_msgs\/srv\/SetPosition.srv<\/em>\uff09\uff1a\r\n\u5c0d Listen node \u767c\u9001\u904b\u52d5\u6307\u4ee4\uff0c\u53e5\u62ec PTP\u3001LINE\u3001CIRC \u548c PLINE\uff0c\u8a73\u60c5\u8acb\u770b\u8aaa\u660e\u66f8\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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-dd3770e elementor-section-content-middle elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"dd3770e\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-6acf150\" data-id=\"6acf150\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-df9d53f elementor-widget elementor-widget-text-editor\" data-id=\"df9d53f\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p style=\"text-align: center;\">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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-0fc341f\" data-id=\"0fc341f\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-21d5652 elementor-widget elementor-widget-text-editor\" data-id=\"21d5652\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p style=\"text-align: center;\">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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-64a727c\" data-id=\"64a727c\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-2c91942 elementor-widget elementor-widget-text-editor\" data-id=\"2c91942\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p style=\"text-align: center;\">\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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-e72ca9d elementor-section-content-middle elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"e72ca9d\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-a3d2074\" data-id=\"a3d2074\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-ef1fc75 elementor-widget elementor-widget-text-editor\" data-id=\"ef1fc75\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"http:\/\/wiki.ros.org\/noetic\">ROS 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-34693cf\" data-id=\"34693cf\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-9368649 elementor-widget elementor-widget-text-editor\" data-id=\"9368649\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/github.com\/TechmanRobotInc\/tmr_ros1\/tree\/noetic\">TM 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-b0f39e2\" data-id=\"b0f39e2\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1949287 elementor-widget elementor-widget-text-editor\" data-id=\"1949287\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-a40e66d elementor-section-content-middle elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"a40e66d\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-198b626\" data-id=\"198b626\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-166e515 elementor-widget elementor-widget-text-editor\" data-id=\"166e515\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"http:\/\/wiki.ros.org\/melodic\">ROS 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-3152ba7\" data-id=\"3152ba7\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-0189444 elementor-widget elementor-widget-text-editor\" data-id=\"0189444\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/github.com\/TechmanRobotInc\/tmr_ros1\/\">TM 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-cc1fabf\" data-id=\"cc1fabf\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e8b81e4 elementor-widget elementor-widget-text-editor\" data-id=\"e8b81e4\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-9a01412 elementor-section-content-middle elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"9a01412\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-74c2844\" data-id=\"74c2844\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-b243dcb elementor-widget elementor-widget-text-editor\" data-id=\"b243dcb\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/index.ros.org\/doc\/ros2\/Releases\/Release-Foxy-Fitzroy\/\">ROS 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-964106a\" data-id=\"964106a\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-10a1f46 elementor-widget elementor-widget-text-editor\" data-id=\"10a1f46\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/github.com\/TechmanRobotInc\/tmr_ros2\">TM 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-3c9b617\" data-id=\"3c9b617\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-08f7804 elementor-widget elementor-widget-text-editor\" data-id=\"08f7804\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-c2e6fb2 elementor-section-content-middle elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"c2e6fb2\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-8d57d1d\" data-id=\"8d57d1d\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-45cdeb0 elementor-widget elementor-widget-text-editor\" data-id=\"45cdeb0\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/index.ros.org\/doc\/ros2\/Releases\/Release-Dashing-Diademata\/\">ROS 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-16fb523\" data-id=\"16fb523\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-9b8dd19 elementor-widget elementor-widget-text-editor\" data-id=\"9b8dd19\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/github.com\/TechmanRobotInc\/tmr_ros2\/tree\/dashing-devel\">TM 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<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-bf4ba86\" data-id=\"bf4ba86\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-76975ca elementor-widget elementor-widget-text-editor\" data-id=\"76975ca\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\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<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-5ae6353 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"5ae6353\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-8bc1376\" data-id=\"8bc1376\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-ae5ebaf elementor-align-center elementor-widget elementor-widget-raven-button\" data-id=\"ae5ebaf\" data-element_type=\"widget\" data-widget_type=\"raven-button.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"raven-widget-wrapper\">\n\t\t\t<a class=\"raven-button raven-button-widget-normal-effect-none raven-button-text-align-center raven-button-link elementor-animation-none\" href=\"https:\/\/github.com\/TechmanRobotInc\" target=\"_blank\">\n\t\t\t\t<span class=\"raven-button-content\">\n\t\t\t\t\t\n\t\t\t\t\t<div class=\"button-text-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<div class=\"raven-button-texts-wrapper\">\n\t\t\t\t\t\t\t<div class=\"button-text\">\n\t\t\t\t\t\t\t\t<span class=\"raven-button-text\">\n\t\t\t\t\t\t\t\t\t\u4e0b\u8f09TM ROS Driver 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<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-f2d4629\" data-id=\"f2d4629\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-8fd9d69 elementor-align-center elementor-widget elementor-widget-raven-button\" data-id=\"8fd9d69\" data-element_type=\"widget\" data-widget_type=\"raven-button.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"raven-widget-wrapper\">\n\t\t\t<a class=\"raven-button raven-button-widget-normal-effect-none raven-button-text-align-center raven-button-link elementor-animation-none\" href=\"https:\/\/hub.docker.com\/u\/techmanrobotinc\" target=\"_blank\">\n\t\t\t\t<span class=\"raven-button-content\">\n\t\t\t\t\t\n\t\t\t\t\t<div class=\"button-text-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<div class=\"raven-button-texts-wrapper\">\n\t\t\t\t\t\t\t<div class=\"button-text\">\n\t\t\t\t\t\t\t\t<span class=\"raven-button-text\">\n\t\t\t\t\t\t\t\t\t\u4e0b\u8f09TM ROS Driver (Docker Hub)\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\t\t\t<\/div>\n\t\t<\/section>\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<section class=\"elementor-section elementor-top-section elementor-element elementor-element-22e4527 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"22e4527\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-17cc6c8\" data-id=\"17cc6c8\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-55143873 elementor-cta--layout-image-left elementor-cta--skin-classic elementor-bg-transform elementor-bg-transform-zoom-in elementor-widget elementor-widget-call-to-action\" data-id=\"55143873\" data-element_type=\"widget\" data-widget_type=\"call-to-action.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<a class=\"elementor-cta\" href=\"https:\/\/www.tm-robot.com\/zh-hant\/contact-us\/\" target=\"_blank\">\n\t\t\t\t\t<div class=\"elementor-cta__bg-wrapper\">\n\t\t\t\t<div class=\"elementor-cta__bg elementor-bg\" style=\"background-image: url(https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/06\/footer_contactus-1024x683.jpg);\"><\/div>\n\t\t\t\t<div class=\"elementor-cta__bg-overlay\"><\/div>\n\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-cta__content\">\n\t\t\t\t\n\t\t\t\t<h2 class=\"elementor-cta__title elementor-cta__content-item elementor-content-item\">\u60f3\u77ad\u89e3\u66f4\u591a\u7522\u54c1\u5167\u5bb9\u55ce?<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__button-wrapper elementor-cta__content-item elementor-content-item \">\n\t\t\t\t\t<span class=\"elementor-cta__button elementor-button elementor-size-sm\">\n\t\t\t\t\t\t\u806f\u7d61\u6211\u5011\t\t\t\t\t<\/span>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/a>\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\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>TM ROS Driver Robot Operating System\uff08\u7c21\u7a31 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