{"id":73684,"date":"2018-09-27T11:43:14","date_gmt":"2018-09-27T03:43:14","guid":{"rendered":"http:\/\/www.fagao.me\/?p=73684"},"modified":"2018-09-27T11:43:14","modified_gmt":"2018-09-27T03:43:14","slug":"%e5%b9%b2%e8%b4%a7%e6%9b%9d%e5%85%89%e4%ba%8c%e8%b5%84%e6%b7%b1%e6%9e%b6%e6%9e%84%e5%b8%88%e9%a6%96%e6%ac%a1%e8%a7%a3%e5%af%86apolloros%e6%9c%89%e4%bd%95%e4%b8%8d%e5%90%8c%e7%99%be%e5%ba%a6%e4%ba%a7","status":"publish","type":"post","link":"https:\/\/www.fagao.me\/p\/73684.htm","title":{"rendered":"\u5e72\u8d27\u66dd\u5149\u4e8c\u8d44\u6df1\u67b6\u6784\u5e08\u9996\u6b21\u89e3\u5bc6ApolloROS\u6709\u4f55\u4e0d\u540c|\u767e\u5ea6\u4ea7\u54c1\u5f00\u53d1\u8005\u4e2d\u5fc3"},"content":{"rendered":"<p><img decoding=\"async\" src=\"https:\/\/www.fagao.me\/images\/uploads\/F030.png\" alt=\"\"><\/p>\n<p>7\u670822\u65e5\uff0c  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class=\"img-container\"><\/div>\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u975e\u5e38\u590d\u6742\uff0c\u5305\u542b\u611f\u77e5\u3001\u969c\u788d\u7269\u68c0\u6d4b\u3001\u51b3\u7b56\u3001\u8f66\u8f86\u63a7\u5236\u7b49\u6a21\u5757\uff0c\u628a\u8fd9\u4e48\u591a\u529f\u80fd\u5404\u5f02\u7684\u6a21\u5757\u96c6\u6210\u5728\u4e00\u8d77\uff0c\u7ec4\u6210\u4e00\u4e2a\u5b8c\u6574\u7684\u7cfb\u7edf\u5e76\u5b8c\u6210\u81ea\u52a8\u9a7e\u9a76\u7684\u4efb\u52a1\uff0c\u8fd9\u662f\u4e00\u4e2a\u975e\u5e38\u5927\u6311\u6218\u3002<\/p>\n<p>1\u3001\u9ad8\u6548\u7684\u5f00\u53d1\u652f\u6301\uff0c\u5feb\u901f\u7684\u7b97\u6cd5\u8fed\u4ee3\u8981\u6c42ROS\u6846\u67b6\u8981\u80fd\u63d0\u4f9b\u826f\u597d\u7684\u5f00\u53d1\u6a21\u5f0f\uff0c\u7b97\u6cd5\u5de5\u7a0b\u5e08\u66f4\u591a\u805a\u7126\u5728\u7b97\u6cd5\u672c\u8eab\u7684\u5f00\u53d1\u548c\u529f\u80fd\u9a8c\u8bc1\u4e0a\u3002\u901a\u8fc7\u4e00\u4e2a\u6846\u67b6\u7edf\u4e00\u5b8c\u6210\u8bf8\u5982\u914d\u7f6e\u7ba1\u7406\u3001\u73af\u5883\u914d\u7f6e\u3001\u6574\u4f53\u8fd0\u884c\u4ee5\u53ca\u8c03\u8bd5\u7b49\u529f\u80fd\uff0c\u5feb\u901f\u6784\u5efa\u7cfb\u7edf\u539f\u578b\uff0c\u9a8c\u8bc1\u7b97\u6cd5\u548c\u529f\u80fd\u3002<\/p>\n<p>2\u3001\u6a21\u5757\u7075\u6d3b\u914d\u7f6e\uff0c\u611f\u77e5\u3001\u5b9a\u4f4d\u3001\u51b3\u7b56\u6a21\u5757\uff0c\u672c\u8eab\u529f\u80fd\u76f8\u5bf9\u72ec\u7acb\uff0c\u901a\u8fc7\u63a5\u53e3\u5b9a\u4e49\u6570\u636e\u3002\u5de5\u7a0b\u5e08\u5728\u6574\u4f53\u5f00\u53d1\u4e2d\u5e0c\u671b\u5404\u4e2a\u6a21\u5757\u72ec\u7acb\u5f00\u53d1\u3001\u8c03\u8bd5\uff0c\u5e94\u7528\u65f6\u80fd\u901a\u8fc7\u6846\u67b6\u5feb\u901f\u96c6\u5408\u6210\u5b8c\u6574\u7684\u7cfb\u7edf\u5e76\u8fd0\u884c\u3002<\/p>\n<p>3\u3001\u4e30\u5bcc\u7684\u8c03\u8bd5\u5de5\u5177\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6d89\u53ca\u5927\u91cf\u56fe\u50cf\u3001\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\uff0c\u5bf9\u4e8e\u5404\u79cd\u53ef\u89c6\u5316\u5de5\u5177\u6709\u975e\u5e38\u9ad8\u9700\u6c42\uff0c\u969c\u788d\u7269\u68c0\u6d4b\u662f\u5426\u7cbe\u51c6\uff0c \u89c4\u5212\u8def\u5f84\u662f\u5426\u5408\u7406\u3001\u5b9a\u4f4d\u662f\u5426\u6b63\u786e\uff0c\u8fd9\u4e9b\u73af\u8282\u5728\u8c03\u8bd5\u8fc7\u7a0b\u4e2d\u90fd\u9700\u8981\u53ef\u89c6\u5316\u5de5\u5177\u7684\u652f\u6301\u3002<\/p>\n<p>\u4e8c\u3001 \u4e3a\u4ec0\u4e48\u9009\u7528ROS\u6846\u67b6\uff1f<\/p>\n<div class=\"img-container\"><\/div>\n<p>1\u3001\u884c\u4e1a\u8ba4\u53ef\uff0cROS\u6846\u67b6\u5f88\u65e9\u5c31\u88ab\u673a\u5668\u4eba\u884c\u4e1a\u6240\u4f7f\u7528\uff0c\u76ee\u524d\u67093000\u591a\u4e2a\u57fa\u7840\u5e93\uff0c\u80fd\u591f\u652f\u6301\u5e94\u7528\u7684\u5feb\u901f\u5f00\u53d1\u3002<\/p>\n<p>2\u3001\u6d88\u606f\u673a\u5236\uff0cROS\u5728\u5f00\u53d1\u8fc7\u7a0b\u4e2d\uff0c\u57fa\u4e8e\u529f\u80fd\u628a\u6574\u4e2a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5206\u6210\u591a\u4e2a\u6a21\u5757\uff0c\u6bcf\u4e2a\u6a21\u5757\u8d1f\u8d23\u81ea\u5df1\u6d88\u606f\u7684\u63a5\u6536\u3001\u5904\u7406\u3001\u53d1\u5e03\u3002\u5f53\u6a21\u5757\u9700\u8981\u8054\u8c03\u65f6\uff0c\u901a\u8fc7\u6846\u67b6\u53ef\u4ee5\u628a\u5404\u4e2a\u6a21\u5757\u5feb\u901f\u7684\u96c6\u6210\u5230\u4e00\u8d77\u3002<\/p>\n<p>3\u3001\u4f7f\u7528\u5e7f\u6cdb\uff0cROS\u662f\u5b66\u672f\u754c\u4f7f\u7528\u6700\u5e7f\u6cdb\u7684\u6846\u67b6\uff0c\u5bf9\u4e8e\u9a8c\u8bc1\u6700\u65b0\u7684\u7b97\u6cd5\u975e\u5e38\u4fbf\u5229\u3002<\/p>\n<p>\u6b63\u662f\u57fa\u4e8e\u4ee5\u4e0a\u7279\u6027\uff0c\u5728Apollo1.0\u7248\u672c\u4e2d\u9009\u62e9ROS\u4f5c\u4e3a\u5f00\u53d1\u548c\u96c6\u6210\u7684\u6846\u67b6\u3002<\/p>\n<p>\u4e09\u3001Apollo\u4e2dROS\u7684\u6539\u8fdb<\/p>\n<div class=\"img-container\"><\/div>\n<p>\u4e3a\u9002\u5e94ROS\u5728\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e0a\u7684\u5e94\u7528\uff0c\u505a\u4e86\u76f8\u5e94\u6539\u8fdb\u3002<\/p>\n<p>1\u3001\u901a\u4fe1\u6027\u80fd\u4f18\u5316<\/p>\n<p>\uff5c\u95ee\u9898\uff1a\u81ea\u52a8\u9a7e\u9a76\u5927\u91cf\u4f7f\u7528\u4f20\u611f\u5668\u5f15\u53d1\u5f88\u5927\u7684\u4f20\u8f93\u5e26\u5bbd\u9700\u6c42<\/p>\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e3a\u4e86\u80fd\u591f\u611f\u77e5\u590d\u6742\u7684\u9053\u8def\u60c5\u51b5\uff0c\u9700\u8981\u591a\u79cd\u4f20\u611f\u5668\u534f\u540c\u5de5\u4f5c\u624d\u80fd\u8986\u76d6\u4e0d\u540c\u7684\u573a\u666f\u3001\u4e0d\u540c\u8def\u51b5\u9700\u6c42\u3002\u591a\u4f20\u611f\u5668\u5171\u540c\u4f7f\u7528\u4f1a\u5bf9\u8f66\u8f7d\u7cfb\u7edf\u9020\u6210\u5f88\u5927\u538b\u529b\u3002<\/p>\n<div class=\"img-container\"><\/div>\n<p>\uff5c\u89e3\u51b3\u4f18\u5316\uff1a\u5171\u4eab\u5185\u5b58\u80fd\u51cf\u5c11\u4f20\u8f93\u4e2d\u7684\u6570\u636e\u62f7\u8d1d\uff0c\u663e\u8457\u63d0\u5347\u4f20\u8f93\u6548\u7387<\/p>\n<div class=\"img-container\"><\/div>\n<p>\uff5c\u95ee\u9898\uff1a\u5355\u8def\u4f20\u611f\u5668\u6d88\u606f\u6709\u591a\u4e2a\u6d88\u8d39\u8005\u65f6\u8d1f\u8f7d\u6210\u500d\u589e\u957f<\/p>\n<div class=\"img-container\"><\/div>\n<p>\uff5c\u89e3\u51b3\u4f18\u5316\uff1a\u5171\u4eab\u5185\u5b58\u53ef\u4ee5\u6709\u6548\u6ee1\u8db3\u4e00\u5bf9\u591a\u7684\u4f20\u8f93\u573a\u666f<\/p>\n<div class=\"img-container\"><\/div>\n<p>\u5171\u4eab\u5185\u5b58\u672c\u8eab\u7684\u7279\u6027\u80fd\u591f\u652f\u6301\u4e00\u6b21\u5199\u5165\u3001\u591a\u6b21\u8bfb\u53d6\u529f\u80fd\u3002\u5bf9\u4e8e\u4e00\u5bf9\u591a\u4f20\u8f93\u573a\u666f\uff0c\u4e0d\u540c\u7684\u4f7f\u7528\u8005\u5c31\u53ef\u4ee5\u540c\u65f6\u8bfb\u53d6\uff0c\u5b9e\u73b0\u4e00\u6b21\u5199\u5165\uff0c\u591a\u6b21\u8bfb\u53d6\u7684\u529f\u80fd\uff0c\u6210\u500d\u63d0\u5347\u4f20\u8f93\u6548\u7387\u3002<\/p>\n<p>\uff5c\u901a\u4fe1\u6027\u80fd\u4f18\u5316\u6548\u679c<\/p>\n<div class=\"img-container\"><\/div>\n<p>A\u3001\u4e00\u5bf9\u4e00\u4f20\u8f93\u8fc7\u7a0b\u4e2d\uff0c\u5171\u4eab\u5185\u5b58\u541e\u5410\u91cf\u8fbe\u5230socket\u4e24\u500d\uff0c\u4e00\u5bf9\u591a\u4f20\u8f93\u8fc7\u7a0b\u4e2d\uff0c\u5171\u4eab\u5185\u5b58\u4f20\u8f93\u5bf9\u5e26\u5bbd\u7684\u4f18\u52bf\u8fdb\u4e00\u6b65\u6269\u5927\u3002<\/p>\n<p>B\u3001\u5171\u4eab\u5185\u5b58\u4f20\u8f93\u5ef6\u8fdf\u6bd4Shared\u8282\u7701\u4e00\u534a\uff0c\u5bf9\u5f3a\u5b9e\u65f6\u6027\u7cfb\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5e2e\u52a9\u5f88\u5927\u3002<\/p>\n<p>C\u3001\u5171\u4eab\u5185\u5b58CPU\u8d44\u6e90\u5360\u7528\u8981\u6bd4socket\u51cf\u5c11\u5f88\u591a\uff0c\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u63d0\u5347\u8ba1\u7b97\u7b97\u6cd5\u548c\u80fd\u529b\u3002<\/p>\n<p>2\u3001\u53bb\u4e2d\u5fc3\u5316\u7684\u7f51\u7edc\u62d3\u6251<\/p>\n<p>\uff5cROS\u7279\u70b9\uff1aROS\u4ee5Master\u4e3a\u4e2d\u5fc3\u6784\u5efahybridp2p\u62d3\u6251\u7f51\u7edc<\/p>\n<div class=\"img-container\"><\/div>\n<p>ROS\u662f\u4ee5Master\u4e3a\u4e2d\u5fc3\u6784\u5efaHybrid p2p\u62d3\u6251\u7f51\u7edc\uff0c\u5e26\u6765\u4e86\u6bd4\u8f83\u5f3a\u7684\u5bb9\u9519\u6027\uff0c\u5f53\u67d0\u4e2a\u7b97\u6cd5\u51fa\u73b0\u5f02\u5e38\u5bfc\u81f4\u5d29\u6e83\u7684\u65f6\u5019\uff0c\u4e0d\u4f1a\u5f15\u8d77\u6574\u4e2a\u7684\u5f02\u5e38\uff0c\u4e3a\u5c40\u90e8\u5f02\u5e38\u5904\u7406\u63d0\u4f9b\u4fbf\u5229\u3002<\/p>\n<p>\uff5c\u95ee\u9898\uff1aMaster\u4f5c\u4e3a\u62d3\u6251\u7f51\u7edc\u7684\u4e2d\u5fc3\uff0c\u4e00\u65e6\u5f02\u5e38\u5c06\u5f71\u54cd\u6574\u4e2a\u7f51\u7edc<\/p>\n<div 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