{"id":39447,"date":"2023-04-15T08:31:02","date_gmt":"2024-01-23T06:49:31","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%b0%86micro-ros%e7%83%a7%e5%bd%95%e5%88%b0m5-atom-matrix%e4%b8%8a%e3%80%82\/"},"modified":"2024-04-29T23:36:16","modified_gmt":"2024-04-29T15:36:16","slug":"%e5%b0%86micro-ros%e7%83%a7%e5%bd%95%e5%88%b0m5-atom-matrix%e4%b8%8a%e3%80%82","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%b0%86micro-ros%e7%83%a7%e5%bd%95%e5%88%b0m5-atom-matrix%e4%b8%8a%e3%80%82\/","title":{"rendered":"\u5c06micro-ROS\u70e7\u5f55\u5230M5 Atom Matrix\u4e0a"},"content":{"rendered":"

\u9996\u5148\/\u9996\u8981\u7684\u662f<\/h1>\n

\u6211\u6253\u7b97\u5728 M5 Atom Matrix \u4e0a\u5237\u5165 micro-ROS\u3002\u4e4b\u524d\u6211\u5c1d\u8bd5\u4e86\u5176\u4ed6\u535a\u5ba2\u4e2d\u4ecb\u7ecd\u7684\u65b9\u6cd5\uff0c\u4f46 ESP32 \u59cb\u7ec8\u65e0\u6cd5\u6210\u529f\u542f\u52a8\uff0c\u4e00\u76f4\u5728\u91cd\u542f\u5faa\u73af\u4e2d\u3002\u8003\u8651\u5230 micro-ROS \u7684\u5f00\u53d1\u8fdb\u5c55\u5f88\u5feb\uff0c\u6211\u51b3\u5b9a\u8bb0\u5f55\u4e0b\u6211\u7684\u6b65\u9aa4\u5907\u5fd8\u3002<\/p>\n

\u7531\u4e8e\u73b0\u5728\u662f2023\u5e7411\u6708\u7684\u65b9\u6cd5\uff0c\u6240\u4ee5\u6211\u65e0\u6cd5\u786e\u5b9a\u5b83\u7684\u6709\u6548\u671f\u9650\u3002<\/p>\n

\u4f7f\u7528\u7684\u73af\u5883\u548c\u8f6f\u4ef6\u7248\u672c<\/h1>\n
\n
nameversionMBPIntel Core i7macOS13.6.1PlatformIO Core6.1.11PlatformIO Home3.4.4ROS2Iron IrwiniUbuntu22.04Parallels Desktop19.1.0<\/div>\n<\/div>\n

\u4f7f\u7528 PlatformIO \u521b\u5efa\u9879\u76ee<\/h1>\n

\u5047\u8bbeVisual Studio Code\u4e2d\u5df2\u7ecf\u5b89\u88c5\u4e86PlatformIO.<\/p>\n

\u57fa\u672c\u4e0a\uff0c\u5b98\u65b9\u7f51\u7ad9\u4e0a\u6709\u8be6\u7ec6\u7684\u6b65\u9aa4\u8bf4\u660e\u3002\u6309\u7167\u8fd9\u4e9b\u8bf4\u660e\u8fdb\u884c\u64cd\u4f5c\uff0c\u5c31\u53ef\u4ee5\u6b63\u5e38\u8fd0\u884c\u3002<\/p>\n

\u5982\u679c\u60a8\u6b63\u5728\u4f7f\u7528Arduino IDE\uff0c\u8bf7\u53c2\u8003\u4e0b\u9762\u7684\u5185\u5bb9\u3002<\/div>\n

\u5982\u679c\u8fd8\u6ca1\u6709\u4f7f\u7528binutils\uff0c\u5c06\u8fdb\u884c\u5b89\u88c5\u3002<\/p>\n

brew install <\/span>binutils\r\n<\/code><\/pre>\n
\u7136\u800c\uff0c\u4ec5\u4ec5\u5b89\u88c5\u662f\u65e0\u6cd5\u6210\u529f\u6784\u5efa\u7684\u3002\u4eceM1Mac\u5f00\u59cb\uff0c\u5b89\u88c5\u8def\u5f84\u5df2\u7ecf\u4ece\/usr\/local\/\u66f4\u6539\u4e3a\/opt\/homebrew\/\u3002PlatformIO\u4f3c\u4e4e\u4e5f\u6b63\u5f0f\u4f7f\u7528\u4e86\u65b0\u7248\u672c\u3002\u56e0\u4e3a\u4e0d\u77e5\u9053\u5982\u4f55\u8fdb\u884c\u66f4\u6539\uff0c\u6240\u4ee5\u51b3\u5b9a\u4f7f\u7528\u7b26\u53f7\u94fe\u63a5\u6765\u5e94\u5bf9\u3002<\/p>\n
cd<\/span> \/opt\/homebrew\/opt\r\nsudo ln<\/span> -s<\/span> ..\/..\/..\/usr\/local\/opt\/binutils binutils\r\n<\/code><\/pre>\n
\u6211\u5011\u5c07\u5e73\u53f0.ini\u7de8\u8f2f\u6210\u4ee5\u4e0b\u7684\u683c\u5f0f\u3002\u7531\u65bc\u7f3a\u5c11Wire\u65bclib_deps\u4e2d\uff0c\u5c07\u6703\u5c0e\u81f4\u7de8\u8b6f\u932f\u8aa4\uff0c\u6240\u4ee5\u8acb\u4e0d\u8981\u7701\u7565\u3002<\/p>\n
\u6211\u5df2\u7ecf\u6dfb\u52a0\u4e86M5 Atom S3\u7684\u8bbe\u7f6e\u3002
\n\u6211\u5df2\u7ecf\u6539\u7528M5Unified\u4e86\u3002\u4e0d\u518d\u9700\u8981Wire\u3002<\/div>\n
[env:m5stack-atom]<\/span>\r\nplatform<\/span> =<\/span> espressif32<\/span>\r\nboard<\/span> =<\/span> m5stack-atom<\/span>\r\nframework<\/span> =<\/span> arduino<\/span>\r\nlib_deps<\/span> =<\/span> \r\n    fastled\/FastLED@^3.6.0<\/span>\r\n  \tm5stack\/M5Unified@^0.1.10<\/span>\r\n    https:\/\/github.com\/micro-ROS\/micro_ros_platformio<\/span>\r\nboard_microros_distro<\/span> =<\/span> iron<\/span>\r\nboard_microros_transport<\/span> =<\/span> serial<\/span>\r\n\r\n[env:m5stack-atoms3]<\/span>\r\nplatform<\/span> =<\/span> espressif32<\/span>\r\nboard<\/span> =<\/span> m5stack-atoms3<\/span>\r\nframework<\/span> =<\/span> arduino<\/span>\r\nlib_deps<\/span> =<\/span> \r\n\tfastled\/FastLED@^3.6.0<\/span>\r\n\tm5stack\/M5Unified@^0.1.10<\/span>\r\n\thttps:\/\/github.com\/micro-ROS\/micro_ros_platformio<\/span>\r\nbuild_flags<\/span> =<\/span>\r\n\t'-D<\/span> ARDUINO_USB_MODE<\/span>=<\/span>1'<\/span>\r\n\t'-D<\/span> ARDUINO_USB_CDC_ON_BOOT<\/span>=<\/span>1'<\/span>\r\nboard_microros_distro<\/span> =<\/span> iron<\/span>\r\nboard_microros_transport<\/span> =<\/span> serial<\/span>\r\n<\/code><\/pre>\n
\u5982\u679c\u4e0d\u6307\u5b9aboard_microros_distro\uff0c\u5219\u5c06\u4f7f\u7528\u9ed8\u8ba4\u503c\u3002<\/p>\n
    \n
  • \n
      humble<\/ul>\n<\/li>\n<\/ul>\n
      iron (default value)
      \nrolling<\/p>\n
      board_microros_transport\u662f\u4eceAtom\u4f20\u8f93\u6570\u636e\u7684\u65b9\u6cd5\u3002\u6211\u4eec\u4f7f\u7528USB\u4e32\u53e3\u8fdb\u884c\u4f20\u8f93\u3002\u8bf7\u6839\u636e\u8fd9\u4e2a\u8bbe\u7f6e\u6765\u7f16\u5199\u6e90\u4ee3\u7801\u3002\u5177\u4f53\u7684\u5199\u6cd5\u8bf7\u53c2\u8003README.md\u6587\u4ef6\u3002<\/p>\n
      serial (default value)
      \nwifi
      \nwifi_nina
      \nnative_ethernet
      \ncustom<\/p>\n
      \u7f16\u7801\u3002(Bian1ma3)<\/h1>\n
      \u6211\u5c06\u590d\u5236\u7c98\u8d34\u8fd9\u4e2a\u4f8b\u5b50\u3002\u8fd9\u6b21\u6211\u4f7f\u7528Atom Matrix\u3002\u7531\u4e8eIMU\u642d\u8f7d\u4e86MPU6886\uff0c\u6240\u4ee5\u6211\u5c06\u5c1d\u8bd5\u66f4\u6539\u4ee3\u7801\u6765\u53d1\u5e03\u4e09\u8f74\u91cd\u529b\u52a0\u901f\u5ea6\u8ba1\u548c\u4e09\u8f74\u9640\u87ba\u4eea\u7684\u6570\u636e\u3002<\/p>\n
      #include<\/span> <Arduino.h><\/span>\r\n#include<\/span> <M5Unified.h><\/span>\r\n#include<\/span> <micro_ros_platformio.h><\/span>\r\n\r\n#include<\/span> <rcl\/rcl.h><\/span>\r\n#include<\/span> <rclc\/rclc.h><\/span>\r\n#include<\/span> <rclc\/executor.h><\/span>\r\n\r\n#include<\/span> <sensor_msgs\/msg\/imu.h><\/span>\r\n\r\n#if !defined(MICRO_ROS_TRANSPORT_ARDUINO_SERIAL)\r\n#error This example is only avaliable for Arduino framework with serial transport.\r\n#endif\r\n<\/span>\r\nrcl_publisher_t<\/span> publisher<\/span>;<\/span>\r\nsensor_msgs__msg__Imu<\/span> msg<\/span>;<\/span>\r\n\r\nrclc_executor_t<\/span> executor<\/span>;<\/span>\r\nrclc_support_t<\/span> support<\/span>;<\/span>\r\nrcl_allocator_t<\/span> allocator<\/span>;<\/span>\r\nrcl_node_t<\/span> node<\/span>;<\/span>\r\nrcl_timer_t<\/span> timer<\/span>;<\/span>\r\n\r\n#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}\r\n#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}\r\n<\/span>\r\n\/\/ Error handle loop<\/span>\r\nvoid<\/span> error_loop<\/span>()<\/span> {<\/span>\r\n  while<\/span>(<\/span>1<\/span>)<\/span> {<\/span>\r\n    delay<\/span>(<\/span>100<\/span>);<\/span>\r\n  }<\/span>\r\n}<\/span>\r\n\r\nvoid<\/span> timer_callback<\/span>(<\/span>rcl_timer_t<\/span> *<\/span> timer<\/span>,<\/span> int64_t<\/span> last_call_time<\/span>)<\/span> {<\/span>\r\n  RCLC_UNUSED<\/span>(<\/span>last_call_time<\/span>);<\/span>\r\n\r\n  if<\/span> (<\/span>timer<\/span> !=<\/span> NULL<\/span>)<\/span> {<\/span>\r\n    float<\/span> linear_acceleration_x<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n    float<\/span> linear_acceleration_y<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n    float<\/span> linear_acceleration_z<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n    float<\/span> angular_velocity_x<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n    float<\/span> angular_velocity_y<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n    float<\/span> angular_velocity_z<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n\r\n    M5<\/span>.<\/span>IMU<\/span>.<\/span>getGyroData<\/span>(<\/span>&<\/span>angular_velocity_x<\/span>,<\/span> &<\/span>angular_velocity_y<\/span>,<\/span> &<\/span>angular_velocity_z<\/span>);<\/span>\r\n    M5<\/span>.<\/span>IMU<\/span>.<\/span>getAccelData<\/span>(<\/span>&<\/span>linear_acceleration_x<\/span>,<\/span> &<\/span>linear_acceleration_y<\/span>,<\/span> &<\/span>linear_acceleration_z<\/span>);<\/span>\r\n\r\n    msg<\/span>.<\/span>linear_acceleration<\/span>.<\/span>x<\/span> =<\/span> linear_acceleration_x<\/span>;<\/span>\r\n    msg<\/span>.<\/span>linear_acceleration<\/span>.<\/span>y<\/span> =<\/span> linear_acceleration_y<\/span>;<\/span>\r\n    msg<\/span>.<\/span>linear_acceleration<\/span>.<\/span>z<\/span> =<\/span> linear_acceleration_z<\/span>;<\/span>\r\n    msg<\/span>.<\/span>angular_velocity<\/span>.<\/span>x<\/span> =<\/span> angular_velocity_x<\/span>;<\/span>\r\n    msg<\/span>.<\/span>angular_velocity<\/span>.<\/span>y<\/span> =<\/span> angular_velocity_y<\/span>;<\/span>\r\n    msg<\/span>.<\/span>angular_velocity<\/span>.<\/span>z<\/span> =<\/span> angular_velocity_z<\/span>;<\/span>\r\n\r\n    RCSOFTCHECK<\/span>(<\/span>rcl_publish<\/span>(<\/span>&<\/span>publisher<\/span>,<\/span> &<\/span>msg<\/span>,<\/span> NULL<\/span>));<\/span>\r\n  }<\/span>\r\n}<\/span>\r\n\r\nvoid<\/span> setup<\/span>()<\/span> {<\/span>\r\n  auto<\/span> cfg<\/span> =<\/span> M5<\/span>.<\/span>config<\/span>();<\/span>\r\n  M5<\/span>.<\/span>begin<\/span>(<\/span>cfg<\/span>);<\/span>\r\n\r\n  \/\/ Configure serial transport<\/span>\r\n  Serial<\/span>.<\/span>begin<\/span>(<\/span>115200<\/span>);<\/span>\r\n  set_microros_serial_transports<\/span>(<\/span>Serial<\/span>);<\/span>\r\n  delay<\/span>(<\/span>2000<\/span>);<\/span>\r\n\r\n  allocator<\/span> =<\/span> rcl_get_default_allocator<\/span>();<\/span>\r\n\r\n  \/\/create init_options<\/span>\r\n  RCCHECK<\/span>(<\/span>rclc_support_init<\/span>(<\/span>&<\/span>support<\/span>,<\/span> 0<\/span>,<\/span> NULL<\/span>,<\/span> &<\/span>allocator<\/span>));<\/span>\r\n\r\n  \/\/ create node<\/span>\r\n  RCCHECK<\/span>(<\/span>rclc_node_init_default<\/span>(<\/span>&<\/span>node<\/span>,<\/span> \"micro_ros_platformio_node\"<\/span>,<\/span> \"\"<\/span>,<\/span> &<\/span>support<\/span>));<\/span>\r\n\r\n  \/\/ create publisher<\/span>\r\n  RCCHECK<\/span>(<\/span>rclc_publisher_init_default<\/span>(<\/span>\r\n    &<\/span>publisher<\/span>,<\/span>\r\n    &<\/span>node<\/span>,<\/span>\r\n    ROSIDL_GET_MSG_TYPE_SUPPORT<\/span>(<\/span>sensor_msgs<\/span>,<\/span> msg<\/span>,<\/span> Imu<\/span>),<\/span>\r\n    \"pub_imu\"<\/span>));<\/span>\r\n\r\n  \/\/ create timer,<\/span>\r\n  const<\/span> unsigned<\/span> int<\/span> timer_timeout<\/span> =<\/span> 1000<\/span>;<\/span>\r\n  RCCHECK<\/span>(<\/span>rclc_timer_init_default<\/span>(<\/span>\r\n    &<\/span>timer<\/span>,<\/span>\r\n    &<\/span>support<\/span>,<\/span>\r\n    RCL_MS_TO_NS<\/span>(<\/span>timer_timeout<\/span>),<\/span>\r\n    timer_callback<\/span>));<\/span>\r\n\r\n  \/\/ create executor<\/span>\r\n  RCCHECK<\/span>(<\/span>rclc_executor_init<\/span>(<\/span>&<\/span>executor<\/span>,<\/span> &<\/span>support<\/span>.<\/span>context<\/span>,<\/span> 1<\/span>,<\/span> &<\/span>allocator<\/span>));<\/span>\r\n  RCCHECK<\/span>(<\/span>rclc_executor_add_timer<\/span>(<\/span>&<\/span>executor<\/span>,<\/span> &<\/span>timer<\/span>));<\/span>\r\n}<\/span>\r\n\r\nvoid<\/span> loop<\/span>()<\/span> {<\/span>\r\n  delay<\/span>(<\/span>100<\/span>);<\/span>\r\n  RCSOFTCHECK<\/span>(<\/span>rclc_executor_spin_some<\/span>(<\/span>&<\/span>executor<\/span>,<\/span> RCL_MS_TO_NS<\/span>(<\/span>100<\/span>)));<\/span>\r\n}<\/span>\r\n<\/code><\/pre>\n
      \u95ea\u5149\u706f<\/h1>\n
      \u70b9\u51fbPlatformIO\u7684\u4e0a\u4f20\u6309\u94ae\u6765\u8fdb\u884c\u56fa\u4ef6\u70e7\u5199\u3002\u5728vscode\u7684\u5de6\u4e0b\u89d2\u9644\u8fd1\uff0c\u6709\u4e00\u6392\u6309\u94ae\u3002<\/p>\n
      micro_ROS\u4ee3\u7406<\/h1>\n
      \u6211\u5c1d\u8bd5\u5728macOS\u4e0a\u8fd0\u884c\uff0c\u4f46\u5931\u8d25\u4e86\u3002\u9996\u5148\uff0cROS2\u4e0d\u652f\u6301macOS\u3002\u56e0\u6b64\uff0c\u63d0\u4f9b\u4e86\u4f7f\u7528docker\u8f7b\u677e\u8fd0\u884c\u4ee3\u7406\u7684\u65b9\u6cd5\u3002\u4f46\u662f\uff0c\u5728macOS\u4e0a\u65e0\u6cd5\u5c06USB\u4e32\u884c\u7aef\u53e3\u6302\u8f7d\u5230docker\u3002\u53ef\u80fd\u662fqemu\u7684\u8bbe\u7f6e\u6216\u5176\u4ed6\u95ee\u9898\uff0c\u4f46\u6211\u51b3\u5b9a\u76f4\u63a5\u5728Ubuntu\u4e0a\u8fd0\u884c\u3002\u7531\u4e8e\u6211\u6ca1\u6709Ubuntu\u673a\u5668\uff0c\u6240\u4ee5\u6211\u5728Parallels Desktop\u4e0a\u5b89\u88c5\u4e86Ubuntu 22.04\u3002<\/p>\n
      \u5b89\u88c5ROS2 Iron Irwini\u7248\u3002<\/h2>\n
      \u6309\u7167\u516c\u5f0f\u6587\u6863\u8fdb\u884c\u64cd\u4f5c\u5c31\u6ca1\u6709\u95ee\u9898\u3002\u6211\u4f7f\u7528apt\u5b89\u88c5\u4e86ros-iron-desktop\u3002<\/p>\n
      micro_ROS \u6784\u5efa<\/h2>\n
      \u6267\u884cmicro_ros_setup\u7684\u6784\u5efa\u65b9\u6cd5\u3002<\/p>\n
      source<\/span> \/opt\/ros\/iron\/setup.bash\r\nmkdir <\/span>uros_ws &&<\/span> cd <\/span>uros_ws\r\ngit clone -b<\/span> iron https:\/\/github.com\/micro-ROS\/micro_ros_setup.git src\/micro_ros_setup\r\nrosdep update &&<\/span> rosdep install<\/span> --from-paths<\/span> src --ignore-src<\/span> -y<\/span>\r\ncolcon build\r\nsource install<\/span>\/local_setup.bash\r\n<\/code><\/pre>\n
      \u51c6\u5907USB\u4e32\u884c\u4e32\u53e3<\/h2>\n
      \u4f7f\u7528M5 Atom\u5c06\u5176\u8fde\u63a5\uff0c\u901a\u8fc7Parallels Desktop\u7684\u8bbe\u7f6e\u5c06\u5176\u914d\u7f6e\u4e3a\u53ef\u4f9b\u5ba2\u6237\u64cd\u4f5c\u7cfb\u7edf\u4f7f\u7528\u3002\u53ea\u8981\u6709\/dev\/ttyUSB0\u5373\u53ef\u3002<\/p>\n
      $ <\/span>ls<\/span> -l<\/span> \/dev\/ttyUSB0 \r\ncrw-rw---- 1 root dialout 188, 0 Nov  6 11:24 \/dev\/ttyUSB0\r\n<\/code><\/pre>\n
      \u53ea\u6709\u5f53\u5728ls\u4e2d\u663e\u793a\u65f6\uff0c\u624d\u80fd\u4f7f\u7528dialout\u7ec4\u3002\u6211\u4f1a\u5c06\u7528\u6237\u6dfb\u52a0\u5230\u8be5\u7ec4\u4e2d\u3002<\/p>\n
      $ <\/span>sudo <\/span>adduser [<\/span>username] dialout\r\n<\/code><\/pre>\n
      \u91cd\u65b0\u542f\u52a8\u4e00\u6b21\u6216\u91cd\u65b0\u767b\u5f55\u3002<\/p>\n
      \u4f7f\u7528id\u547d\u4ee4\u786e\u8ba4\u662f\u5426\u663e\u793a\u4e86dialout\u3002<\/p>\n
      $ <\/span>id\r\n<\/span>uid<\/span>=<\/span>1000(<\/span>username)<\/span> gid<\/span>=<\/span>1000(<\/span>username)<\/span> groups<\/span>=<\/span>1000(<\/span>username)<\/span>,4(<\/span>adm)<\/span>,20(<\/span>dialout)<\/span>,24(<\/span>cdrom)<\/span>,27(<\/span>sudo<\/span>)<\/span>,30(<\/span>dip)<\/span>,46(<\/span>plugdev)<\/span>,122(<\/span>lpadmin)<\/span>,134(<\/span>lxd)<\/span>,135(<\/span>sambashare)<\/span>\r\n<\/code><\/pre>\n
      \u5fae_ROS_Agent \u6784\u5efa<\/h2>\n
      \u6267\u884cmicro_ROS_Agent\u7684\u6784\u5efa\u65b9\u6cd5\u3002<\/p>\n
      ros2 run micro_ros_setup create_agent_ws.sh\r\nros2 run micro_ros_setup build_agent.sh\r\nsource install<\/span>\/local_setup.sh\r\n<\/code><\/pre>\n
      \u6267\u884c<\/h2>\n
      \u6211\u4f1a\u5728\u60a8\u5728\u6784\u5efa\u4e2d\u4f7f\u7528\u7684\u7ec8\u7aef\u4e0a\u6267\u884c\u4ee3\u7406\u7a0b\u5e8f\u3002<\/p>\n
      $ <\/span>ros2 run micro_ros_agent micro_ros_agent serial --dev<\/span> \/dev\/ttyUSB0 -b<\/span> 115200 -v6<\/span>\r\n<\/code><\/pre>\n
      \u8fd0\u884c\u53e6\u4e00\u4e2a\u7ec8\u7aef\uff0c\u5e76\u786e\u8ba4\u6709\u4e00\u4e2a\u4e3b\u9898\u3002\u5982\u679c\/pub_imu\u5b58\u5728\u5373\u4e3a\u6210\u529f\u3002<\/p>\n
      $ <\/span>source<\/span> \/opt\/ros\/iron\/setup.bash\r\n$ <\/span>ros2 topic list\r\n\/parameter_events\r\n\/pub_imu\r\n\/rosout\r\n<\/code><\/pre>\n
      \u8ba9\u6211\u4eec\u663e\u793a\u6536\u5230\u7684\u6570\u636e\u5185\u5bb9\u3002<\/p>\n
      $ <\/span>ros2 topic echo<\/span> \/pub_imu\r\n<\/code><\/pre>\n
      \u5de6\u4fa7\u7ec8\u7aef\u662fmicro_ROS_Agent\uff0c\u53f3\u4fa7\u7ec8\u7aef\u662f\u4e3b\u9898\u663e\u793a\u3002\u53ef\u4ee5\u770b\u51fa\u6bcf\u79d2\u53d1\u9001\u4e00\u6b21\u3002<\/p>\n
      \"run_micro-ros-agent.png\"<\/div>\n
      \u5982\u679c\u8981\u5728docker\u4e0a\u8fd0\u884c\u7684\u8bdd<\/h2>\n
      \u5728Ubuntu\u4e0a\u6309\u7167\u5b98\u65b9\u6587\u6863\u5b89\u88c5docker\uff0c\u7136\u540e\u8fdb\u884c\u6267\u884c\u3002<\/p>\n
      $ <\/span>sudo <\/span>docker run -it<\/span> --rm<\/span> -v<\/span> \/dev:\/dev -v<\/span> \/dev\/shm:\/dev\/shm --privileged<\/span> --net<\/span>=<\/span>host microros\/micro-ros-agent:iron serial --dev<\/span> \/dev\/ttyUSB0 -v6<\/span>\r\n<\/code><\/pre>\n
      \u5982\u679c\u8981\u5728ROS2\u4e0a\u8fdb\u884c\u5f00\u53d1\uff0c\u5219\u4f3c\u4e4e\u521b\u5efa\u4e00\u4e2a\u975edocker\u7684ROS2\u73af\u5883\u4f1a\u66f4\u5feb\u4e00\u4e9b\u3002<\/p>\n
      \u6545\u969c\u6392\u9664 (Guzhang paichu)<\/h1>\n
      \u5f53\u60a8\u521a\u521a\u5237\u65b0\u4e86M5 Atom\u8bbe\u5907\u6216\u8005\u8fde\u63a5\u5230Parallels Desktop\u4e4b\u540e\uff0c\u4e32\u53e3\u672a\u80fd\u4f20\u8f93\u6570\u636e\u3002\u8bf7\u6309\u4e0bM5 Atom\u7684\u590d\u4f4d\u6309\u94ae\u3002\u5f53\u4e0e\u4ee3\u7406\u7a0b\u5e8f\u65ad\u5f00\u8fde\u63a5\u65f6\u4e5f\u9700\u8981\u8fdb\u884c\u590d\u4f4d\u3002\u662f\u5426\u4e00\u5b9a\u9700\u8981\u590d\u4f4d\uff0c\u76ee\u524d\u8fd8\u4e0d\u592a\u6e05\u695a\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
      \u9996\u5148\/\u9996\u8981\u7684\u662f \u6211\u6253\u7b97\u5728 M5 Atom Matrix \u4e0a\u5237\u5165 micro-ROS\u3002\u4e4b\u524d\u6211\u5c1d\u8bd5\u4e86\u5176\u4ed6\u535a\u5ba2\u4e2d\u4ecb\u7ecd […]<\/p>\n","protected":false},"author":4,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-39447","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"\n\u5c06micro-ROS\u70e7\u5f55\u5230M5 Atom Matrix\u4e0a - Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.silicloud.com\/zh\/blog\/\u5c06micro-ros\u70e7\u5f55\u5230m5-atom-matrix\u4e0a\u3002\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u5c06micro-ROS\u70e7\u5f55\u5230M5 Atom Matrix\u4e0a\" \/>\n<meta property=\"og:description\" content=\"\u9996\u5148\/\u9996\u8981\u7684\u662f \u6211\u6253\u7b97\u5728 M5 Atom Matrix \u4e0a\u5237\u5165 micro-ROS\u3002\u4e4b\u524d\u6211\u5c1d\u8bd5\u4e86\u5176\u4ed6\u535a\u5ba2\u4e2d\u4ecb\u7ecd […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/zh\/blog\/\u5c06micro-ros\u70e7\u5f55\u5230m5-atom-matrix\u4e0a\u3002\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - 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