{"id":39548,"date":"2022-11-08T22:20:02","date_gmt":"2023-11-25T09:53:11","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bd%bf%e7%94%a8angular%e8%bf%90%e8%a1%8croslibjs\/"},"modified":"2024-04-28T23:43:14","modified_gmt":"2024-04-28T15:43:14","slug":"%e4%bd%bf%e7%94%a8angular%e8%bf%90%e8%a1%8croslibjs","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bd%bf%e7%94%a8angular%e8%bf%90%e8%a1%8croslibjs\/","title":{"rendered":"\u4f7f\u7528Angular\u8fd0\u884croslibjs"},"content":{"rendered":"<h1>\u7ae0\u8282\u76ee\u5f55<\/h1>\n<p>1. \u6982\u8ff0<br \/>\n2. \u73af\u5883<br \/>\n3. \u5f15\u5165Angular\u7aef<br \/>\n4. \u5f15\u5165ROS\u7aef<br \/>\n5. \u5b9e\u8df5<br \/>\n6. \u7ed3\u8bed<\/p>\n<h1>\u603b\u7ed3<\/h1>\n<p>\u4eca\u5e74\u7684ROS Advent Calendar\u4e0a\u6709\u5f88\u591a\u5173\u4e8eROS\u548cWeb\u534f\u4f5c\u7684\u6587\u7ae0\uff0c\u6211\u89c9\u5f97\u975e\u5e38\u6709\u8da3\uff0c\u6240\u4ee5\u4e00\u76f4\u5728\u770b\u3002<br \/>\n\u4e0d\u8fc7\u6211\u53d1\u73b0\uff0c\u867d\u7136\u6709\u5173\u4e8eVue\u548cReact\u4e0eROS\u534f\u4f5c\u7684\u6587\u7ae0\uff0c\u4f46\u662f\u51e0\u4e4e\u6ca1\u6709\u5173\u4e8eAngular\u548cROS\u7684\u6587\u7ae0\u3002<br \/>\n\u56e0\u6b64\uff0c\u5728\u672c\u6587\u4e2d\uff0c\u6211\u5c06\u7b80\u8981\u4ecb\u7ecd\u5982\u4f55\u4f7f\u7528Angular\u8fdb\u884cROS\u901a\u4fe1\u3002<br \/>\n\u5982\u679c\u6709\u4efb\u4f55\u9519\u8bef\u4e4b\u5904\uff0c\u8bf7\u60a8\u53d1\u73b0\u540e\u7559\u4e0b\u8bc4\u8bba\uff0c\u6211\u5c06\u4e0d\u80dc\u611f\u6fc0\u3002<\/p>\n<h1>\u73af\u5883<\/h1>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Ubuntu 20.04<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">ROS 1 noetic<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">node v16.10.0<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">Angular 13<\/ul>\n<h1>\u5728\u4e2d\u6587\u7ffb\u8bd1\u4e3a\uff1a\u201c\u5f15\u5165Angular\u4fa7\u201d\u3002<\/h1>\n<h3>\u524d\u63d0 &#8211; Only need one option<\/h3>\n<p>\u5047\u8bbe\u5df2\u7ecf\u5b8c\u6210\u4e86Angular\u548cROS\u7684\u73af\u5883\u8bbe\u7f6e\u3002<br \/>\n\u6b64\u5916\uff0c\u5c06\u5728\u63a5\u4e0b\u6765\u7684\u9879\u76ee\u4e2d\u4f7f\u7528Angular\u8fdb\u884c\u64cd\u4f5c\u3002<\/p>\n<h2>1. \u5b89\u88c5roslibjs<\/h2>\n<p>\u5f15\u5165roslibjs\u5e93\uff0c\u8be5\u5e93\u7528\u4e8e\u4e0eROS\u8fdb\u884c\u901a\u4fe1\u3002<\/p>\n<pre class=\"post-pre\"><code>npm install roslib\r\n<\/code><\/pre>\n<h2>2. \u5b89\u88c5\u6570\u636e\u7c7b\u578b\u5b9a\u4e49<\/h2>\n<p>\u4e3a\u4e86\u8ba9TypeScript\u80fd\u591f\u4f7f\u7528roslibjs\uff0c\u9700\u8981\u5b89\u88c5\u7c7b\u578b\u5b9a\u4e49\u6587\u4ef6\uff0c\u56e0\u4e3aroslibjs\u662f\u7528\u4e8eJavaScript\u7684\u3002<\/p>\n<pre class=\"post-pre\"><code>npm i @types\/roslib --save-dev\r\n<\/code><\/pre>\n<h2>3. \u5b89\u88c5\u4f9d\u8d56\u5173\u7cfb<\/h2>\n<p>\u7531\u4e8eroslibjs\u4f9d\u8d56\u4e8e\u8bb8\u591a\u5e93\uff0c\u56e0\u6b64\u9700\u8981\u5b89\u88c5\u8fd9\u4e9b\u5e93\u3002<\/p>\n<pre class=\"post-pre\"><code>npm install\r\n<\/code><\/pre>\n<h2>4. \u5bf9WebWorkify\u8fdb\u884c\u4fee\u590d\u3002<\/h2>\n<p>\u6211\u53c2\u8003\u4e86@shiro-kuma\u5148\u751f\u4f7f\u7528React\u5b9e\u65f6\u7ed8\u5236ROS\u4e3b\u9898\u5e76\u5165\u95e8\u5230\u524d\u7aef\u90e8\u5206\u3002\u975e\u5e38\u611f\u8c22\uff01<\/p>\n<p>\u4eceAngular 12\u5f00\u59cb\uff0cWebpack\u5347\u7ea7\u5230\u4e86\u7248\u672c5\uff0c\u4f46\u662f\u6839\u636e\u8fd9\u91cc\u6240\u5199\u7684\uff0cWebpack 5\u548croslibjs\u4f3c\u4e4e\u4e0d\u517c\u5bb9\u3002<br \/>\n\u5177\u4f53\u6765\u8bf4\uff0c\u8fd9\u4f3c\u4e4e\u662f\u7531\u4e8eWebpack 5\u4e2d\u5305\u542b\u7684Webworkify\u5b58\u5728\u95ee\u9898\uff0c\u6240\u4ee5\u6211\u4eec\u5c06\u6839\u636eWebworkify\u7684\u95ee\u9898\u62a5\u544a\u6765\u4fee\u590d\u76f8\u5173\u90e8\u5206\u3002<\/p>\n<p>\u9996\u5148\uff0c\u6253\u5f00Angular\u9879\u76ee\u4e2d\u7684node_modules\/webworkify\/index.js\u6587\u4ef6\u3002\u7136\u540e\uff0c<\/p>\n<pre class=\"post-pre\"><code> <span class=\"kd\">var<\/span> <span class=\"nx\">bundleFn<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">arguments<\/span><span class=\"p\">[<\/span><span class=\"mi\">3<\/span><span class=\"p\">];<\/span>\r\n <span class=\"kd\">var<\/span> <span class=\"nx\">sources<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">arguments<\/span><span class=\"p\">[<\/span><span class=\"mi\">4<\/span><span class=\"p\">];<\/span>\r\n <span class=\"kd\">var<\/span> <span class=\"nx\">cache<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">arguments<\/span><span class=\"p\">[<\/span><span class=\"mi\">5<\/span><span class=\"p\">];<\/span>\r\n <span class=\"kd\">var<\/span> <span class=\"nx\">stringify<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">JSON<\/span><span class=\"p\">.<\/span><span class=\"nx\">stringify<\/span><span class=\"p\">;<\/span>\r\n<span class=\"nx\">module<\/span><span class=\"p\">.<\/span><span class=\"nx\">exports<\/span> <span class=\"o\">=<\/span> <span class=\"kd\">function<\/span> <span class=\"p\">(<\/span><span class=\"nx\">fn<\/span><span class=\"p\">,<\/span> <span class=\"nx\">options<\/span><span class=\"p\">)<\/span> <span class=\"p\">{<\/span>  \r\n<\/code><\/pre>\n<p>\u6210\u4e3a\u4e86<\/p>\n<pre class=\"post-pre\"><code><span class=\"kd\">var<\/span> <span class=\"nx\">stringify<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">JSON<\/span><span class=\"p\">.<\/span><span class=\"nx\">stringify<\/span><span class=\"p\">;<\/span>\r\n\r\n<span class=\"nx\">module<\/span><span class=\"p\">.<\/span><span class=\"nx\">exports<\/span> <span class=\"o\">=<\/span> <span class=\"kd\">function<\/span> <span class=\"p\">(<\/span><span class=\"nx\">fn<\/span><span class=\"p\">,<\/span> <span class=\"nx\">options<\/span><span class=\"p\">)<\/span> <span class=\"p\">{<\/span>\r\n    <span class=\"kd\">var<\/span> <span class=\"nx\">bundleFn<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">arguments<\/span><span class=\"p\">[<\/span><span class=\"mi\">3<\/span><span class=\"p\">];<\/span>\r\n    <span class=\"kd\">var<\/span> <span class=\"nx\">sources<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">arguments<\/span><span class=\"p\">[<\/span><span class=\"mi\">4<\/span><span class=\"p\">];<\/span>\r\n    <span class=\"kd\">var<\/span> <span class=\"nx\">cache<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">arguments<\/span><span class=\"p\">[<\/span><span class=\"mi\">5<\/span><span class=\"p\">];<\/span>\r\n<\/code><\/pre>\n<p>\u6211\u4f1a\u50cf\u8fd9\u6837\u8fdb\u884c\u66f4\u6539\u3002<\/p>\n<p>Angular\u7684\u5f15\u5165\u5df2\u7ecf\u5b8c\u6210\u4e86\u3002<\/p>\n<h1>ROS\u7684\u5f15\u5165<\/h1>\n<h2>\u8bf7\u5b89\u88c5ros-bridge-server\u3002<\/h2>\n<p>\u8bf7\u53c2\u8003\uff1ahttp:\/\/wiki.ros.org\/rosbridge_suite\uff0c\u5e76\u5b89\u88c5ros-bridge-server\u3002\u8fd9\u662f\u4e00\u4e2aROS\u5305\uff0c\u5b83\u5141\u8bb8\u901a\u8fc7websocket\u901a\u4fe1\u65b9\u5f0f\u6765\u8bbf\u95eeROS\u3002<\/p>\n<pre class=\"post-pre\"><code>sudo apt-get install ros-noetic-rosbridge-server\r\n<\/code><\/pre>\n<p>ROS\u7684\u5b89\u88c5\u5230\u6b64\u4e3a\u6b62\u3002<\/p>\n<h1>\u5b9e\u8df5 (sh\u00ed<\/h1>\n<p>\u6682\u65f6\u5148\u521b\u5efa\u4e00\u4e2aComponent\u548c\u4e00\u4e2aService\u3002<br \/>\nService\u7684\u4ee3\u7801\u53ef\u4ee5\u6309\u7167\u4ee5\u4e0b\u65b9\u5f0f\u7f16\u5199\u3002<\/p>\n<h2>\u670d\u52a1<\/h2>\n<pre class=\"post-pre\"><code><span class=\"k\">import<\/span> <span class=\"p\">{<\/span> <span class=\"nx\">Injectable<\/span> <span class=\"p\">}<\/span> <span class=\"k\">from<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">@angular\/core<\/span><span class=\"dl\">'<\/span><span class=\"p\">;<\/span>\r\n<span class=\"k\">import<\/span> <span class=\"o\">*<\/span> <span class=\"k\">as<\/span> <span class=\"nx\">ROSLIB<\/span> <span class=\"k\">from<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">roslib<\/span><span class=\"dl\">'<\/span><span class=\"p\">;<\/span>\r\n<span class=\"k\">import<\/span> <span class=\"p\">{<\/span> <span class=\"nx\">Subject<\/span><span class=\"p\">,<\/span> <span class=\"nx\">Observable<\/span> <span class=\"p\">}<\/span> <span class=\"k\">from<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">rxjs<\/span><span class=\"dl\">'<\/span><span class=\"p\">;<\/span>\r\n\r\n<span class=\"p\">@<\/span><span class=\"nd\">Injectable<\/span><span class=\"p\">({<\/span>\r\n  <span class=\"na\">providedIn<\/span><span class=\"p\">:<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">root<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span>\r\n<span class=\"p\">})<\/span>\r\n<span class=\"k\">export<\/span> <span class=\"kd\">class<\/span> <span class=\"nx\">RosService<\/span> <span class=\"p\">{<\/span>\r\n  <span class=\"nl\">ros<\/span><span class=\"p\">:<\/span> <span class=\"nx\">ROSLIB<\/span><span class=\"p\">.<\/span><span class=\"nx\">Ros<\/span><span class=\"p\">;<\/span>\r\n  <span class=\"nx\">url<\/span> <span class=\"o\">=<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">ws:\/\/127.0.0.1:9090<\/span><span class=\"dl\">'<\/span><span class=\"p\">;<\/span>\r\n  <span class=\"nl\">isConnected<\/span><span class=\"p\">:<\/span> <span class=\"nx\">Subject<\/span><span class=\"o\">&lt;<\/span><span class=\"nx\">boolean<\/span><span class=\"o\">&gt;<\/span> <span class=\"o\">=<\/span> <span class=\"k\">new<\/span> <span class=\"nx\">Subject<\/span><span class=\"p\">();<\/span>\r\n  <span class=\"nl\">listener<\/span><span class=\"p\">:<\/span> <span class=\"nx\">ROSLIB<\/span><span class=\"p\">.<\/span><span class=\"nx\">Topic<\/span><span class=\"p\">;<\/span>\r\n  <span class=\"nl\">talker<\/span><span class=\"p\">:<\/span> <span class=\"nx\">ROSLIB<\/span><span class=\"p\">.<\/span><span class=\"nx\">Topic<\/span><span class=\"p\">;<\/span>\r\n\r\n  <span class=\"kd\">constructor<\/span><span class=\"p\">()<\/span> <span class=\"p\">{<\/span>\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">ros<\/span> <span class=\"o\">=<\/span> <span class=\"k\">new<\/span> <span class=\"nx\">ROSLIB<\/span><span class=\"p\">.<\/span><span class=\"nx\">Ros<\/span><span class=\"p\">({<\/span>\r\n      <span class=\"na\">url<\/span><span class=\"p\">:<\/span> <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">url<\/span><span class=\"p\">,<\/span>\r\n    <span class=\"p\">});<\/span>\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">ros<\/span><span class=\"p\">.<\/span><span class=\"nx\">on<\/span><span class=\"p\">(<\/span><span class=\"dl\">'<\/span><span class=\"s1\">connection<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span> <span class=\"p\">()<\/span> <span class=\"o\">=&gt;<\/span> <span class=\"p\">{<\/span>\r\n      <span class=\"nx\">console<\/span><span class=\"p\">.<\/span><span class=\"nx\">log<\/span><span class=\"p\">(<\/span><span class=\"dl\">'<\/span><span class=\"s1\">Connected<\/span><span class=\"dl\">'<\/span><span class=\"p\">);<\/span>\r\n      <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">isConnected<\/span><span class=\"p\">.<\/span><span class=\"nx\">next<\/span><span class=\"p\">(<\/span><span class=\"kc\">true<\/span><span class=\"p\">);<\/span>\r\n    <span class=\"p\">});<\/span>\r\n\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">ros<\/span><span class=\"p\">.<\/span><span class=\"nx\">on<\/span><span class=\"p\">(<\/span><span class=\"dl\">'<\/span><span class=\"s1\">error<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span> <span class=\"p\">(<\/span><span class=\"nx\">error<\/span><span class=\"p\">)<\/span> <span class=\"o\">=&gt;<\/span> <span class=\"p\">{<\/span>\r\n      <span class=\"nx\">console<\/span><span class=\"p\">.<\/span><span class=\"nx\">log<\/span><span class=\"p\">(<\/span><span class=\"dl\">'<\/span><span class=\"s1\">error<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span> <span class=\"nx\">error<\/span><span class=\"p\">);<\/span>\r\n      <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">isConnected<\/span><span class=\"p\">.<\/span><span class=\"nx\">next<\/span><span class=\"p\">(<\/span><span class=\"kc\">false<\/span><span class=\"p\">);<\/span>\r\n    <span class=\"p\">});<\/span>\r\n\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">ros<\/span><span class=\"p\">.<\/span><span class=\"nx\">on<\/span><span class=\"p\">(<\/span><span class=\"dl\">'<\/span><span class=\"s1\">close<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span> <span class=\"p\">()<\/span> <span class=\"o\">=&gt;<\/span> <span class=\"p\">{<\/span>\r\n      <span class=\"nx\">console<\/span><span class=\"p\">.<\/span><span class=\"nx\">log<\/span><span class=\"p\">(<\/span><span class=\"dl\">'<\/span><span class=\"s1\">closed<\/span><span class=\"dl\">'<\/span><span class=\"p\">);<\/span>\r\n      <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">isConnected<\/span><span class=\"p\">.<\/span><span class=\"nx\">next<\/span><span class=\"p\">(<\/span><span class=\"kc\">false<\/span><span class=\"p\">);<\/span>\r\n    <span class=\"p\">});<\/span>\r\n\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">listener<\/span> <span class=\"o\">=<\/span> <span class=\"k\">new<\/span> <span class=\"nx\">ROSLIB<\/span><span class=\"p\">.<\/span><span class=\"nx\">Topic<\/span><span class=\"p\">({<\/span>\r\n      <span class=\"na\">ros<\/span><span class=\"p\">:<\/span> <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">ros<\/span><span class=\"p\">,<\/span>\r\n      <span class=\"na\">name<\/span><span class=\"p\">:<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">\/listener<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span>\r\n      <span class=\"na\">messageType<\/span><span class=\"p\">:<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">std_msgs\/String<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span>\r\n    <span class=\"p\">});<\/span>\r\n\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">talker<\/span> <span class=\"o\">=<\/span> <span class=\"k\">new<\/span> <span class=\"nx\">ROSLIB<\/span><span class=\"p\">.<\/span><span class=\"nx\">Topic<\/span><span class=\"p\">({<\/span>\r\n      <span class=\"na\">ros<\/span><span class=\"p\">:<\/span> <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">ros<\/span><span class=\"p\">,<\/span>\r\n      <span class=\"na\">name<\/span><span class=\"p\">:<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">\/talker<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span>\r\n      <span class=\"na\">messageType<\/span><span class=\"p\">:<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">std_msgs\/String<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span>\r\n    <span class=\"p\">});<\/span>\r\n  <span class=\"p\">}<\/span>\r\n<span class=\"p\">}<\/span>\r\n\r\n<\/code><\/pre>\n<p>\u5728\u6784\u9020\u51fd\u6570\u4e2d\u521b\u5efaROSLIB.Ros\u5bf9\u8c61\u3002\u7531\u4e8e\u53ea\u9700\u8981\u4e00\u4e2a\u5bf9\u8c61\uff0c\u56e0\u6b64\u5728Service\u4e2d\u58f0\u660e\u4ee5\u4fbf\u53ef\u4ee5\u91cd\u65b0\u4f7f\u7528\u3002<br \/>\n\u6b64\u5916\uff0c\u8fd8\u5728\u8fd9\u91cc\u751f\u6210\u7528\u4e8eSubscribe\/Publish\u65f6\u4f7f\u7528\u7684ROSLIB.Topic\u5bf9\u8c61\u3002<br \/>\n\u7136\u540e\u6309\u7167\u4e0b\u9762\u7684\u65b9\u5f0f\u7f16\u5199\u7ec4\u4ef6\u3002<\/p>\n<h2>\u7ec4\u4ef6<\/h2>\n<pre class=\"post-pre\"><code><span class=\"k\">import<\/span> <span class=\"p\">{<\/span> <span class=\"nx\">Component<\/span><span class=\"p\">,<\/span> <span class=\"nx\">OnInit<\/span> <span class=\"p\">}<\/span> <span class=\"k\">from<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">@angular\/core<\/span><span class=\"dl\">'<\/span><span class=\"p\">;<\/span>\r\n<span class=\"k\">import<\/span> <span class=\"o\">*<\/span> <span class=\"k\">as<\/span> <span class=\"nx\">ROSLIB<\/span> <span class=\"k\">from<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">roslib<\/span><span class=\"dl\">'<\/span><span class=\"p\">;<\/span>\r\n<span class=\"k\">import<\/span> <span class=\"p\">{<\/span> <span class=\"nx\">RosService<\/span> <span class=\"p\">}<\/span> <span class=\"k\">from<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">..\/ros.service<\/span><span class=\"dl\">'<\/span><span class=\"p\">;<\/span>\r\n\r\n<span class=\"k\">export<\/span> <span class=\"kr\">interface<\/span> <span class=\"nb\">String<\/span> <span class=\"p\">{<\/span>\r\n  <span class=\"nl\">data<\/span><span class=\"p\">:<\/span> <span class=\"kr\">string<\/span><span class=\"p\">;<\/span>\r\n<span class=\"p\">}<\/span>\r\n\r\n<span class=\"p\">@<\/span><span class=\"nd\">Component<\/span><span class=\"p\">({<\/span>\r\n  <span class=\"na\">selector<\/span><span class=\"p\">:<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">app-top<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span>\r\n  <span class=\"na\">templateUrl<\/span><span class=\"p\">:<\/span> <span class=\"dl\">'<\/span><span class=\"s1\">.\/top.component.html<\/span><span class=\"dl\">'<\/span><span class=\"p\">,<\/span>\r\n  <span class=\"na\">styleUrls<\/span><span class=\"p\">:<\/span> <span class=\"p\">[<\/span><span class=\"dl\">'<\/span><span class=\"s1\">.\/top.component.scss<\/span><span class=\"dl\">'<\/span><span class=\"p\">],<\/span>\r\n<span class=\"p\">})<\/span>\r\n<span class=\"k\">export<\/span> <span class=\"kd\">class<\/span> <span class=\"nx\">TopComponent<\/span> <span class=\"k\">implements<\/span> <span class=\"nx\">OnInit<\/span> <span class=\"p\">{<\/span>\r\n  <span class=\"nl\">isConnected<\/span><span class=\"p\">:<\/span> <span class=\"nx\">boolean<\/span> <span class=\"o\">=<\/span> <span class=\"kc\">false<\/span><span class=\"p\">;<\/span>\r\n  <span class=\"nl\">message<\/span><span class=\"p\">:<\/span> <span class=\"kr\">string<\/span> <span class=\"o\">=<\/span> <span class=\"dl\">''<\/span><span class=\"p\">;<\/span>\r\n  <span class=\"kd\">constructor<\/span><span class=\"p\">(<\/span><span class=\"k\">private<\/span> <span class=\"nx\">rosService<\/span><span class=\"p\">:<\/span> <span class=\"nx\">RosService<\/span><span class=\"p\">)<\/span> <span class=\"p\">{}<\/span>\r\n\r\n  <span class=\"nx\">ngOnInit<\/span><span class=\"p\">():<\/span> <span class=\"k\">void<\/span> <span class=\"p\">{<\/span>\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">rosService<\/span><span class=\"p\">.<\/span><span class=\"nx\">isConnected<\/span><span class=\"p\">.<\/span><span class=\"nx\">subscribe<\/span><span class=\"p\">(<\/span>\r\n      <span class=\"p\">(<\/span><span class=\"na\">data<\/span><span class=\"p\">:<\/span> <span class=\"nx\">boolean<\/span><span class=\"p\">)<\/span> <span class=\"o\">=&gt;<\/span> <span class=\"p\">(<\/span><span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">isConnected<\/span> <span class=\"o\">=<\/span> <span class=\"nx\">data<\/span><span class=\"p\">)<\/span>\r\n    <span class=\"p\">);<\/span>\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">rosService<\/span><span class=\"p\">.<\/span><span class=\"nx\">listener<\/span><span class=\"p\">.<\/span><span class=\"nx\">subscribe<\/span><span class=\"p\">((<\/span><span class=\"na\">msg<\/span><span class=\"p\">:<\/span> <span class=\"nx\">ROSLIB<\/span><span class=\"p\">.<\/span><span class=\"nx\">Message<\/span><span class=\"p\">)<\/span> <span class=\"o\">=&gt;<\/span> <span class=\"p\">{<\/span>\r\n      <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">message<\/span> <span class=\"o\">=<\/span> <span class=\"p\">(<\/span><span class=\"nx\">msg<\/span> <span class=\"k\">as<\/span> <span class=\"nb\">String<\/span><span class=\"p\">).<\/span><span class=\"nx\">data<\/span><span class=\"p\">;<\/span>\r\n    <span class=\"p\">});<\/span>\r\n  <span class=\"p\">}<\/span>\r\n\r\n  <span class=\"nx\">talk<\/span><span class=\"p\">(<\/span><span class=\"nx\">message<\/span><span class=\"p\">:<\/span> <span class=\"kr\">any<\/span><span class=\"p\">):<\/span> <span class=\"k\">void<\/span> <span class=\"p\">{<\/span>\r\n    <span class=\"kd\">const<\/span> <span class=\"na\">publishMsg<\/span><span class=\"p\">:<\/span> <span class=\"nb\">String<\/span> <span class=\"o\">=<\/span> <span class=\"p\">{<\/span> <span class=\"na\">data<\/span><span class=\"p\">:<\/span> <span class=\"nx\">message<\/span> <span class=\"p\">};<\/span>\r\n    <span class=\"k\">this<\/span><span class=\"p\">.<\/span><span class=\"nx\">rosService<\/span><span class=\"p\">.<\/span><span class=\"nx\">talker<\/span><span class=\"p\">.<\/span><span class=\"nx\">publish<\/span><span class=\"p\">(<\/span><span class=\"nx\">publishMsg<\/span><span class=\"p\">);<\/span>\r\n  <span class=\"p\">}<\/span>\r\n<span class=\"p\">}<\/span>\r\n\r\n<\/code><\/pre>\n<p>\u8bf7\u4e0d\u8981\u5728\u610f\u540d\u5b57\u53ebtop.component\u7684\u8fd9\u4e2a\u540d\u5b57\uff0c\u4e0d\u592a\u6e05\u695a\u554a\u7b11<br \/>\n\u5728\u7ec4\u4ef6\u4e2d\u4e3b\u8981\u8fdb\u884c\u6570\u636e\u7684\u5c55\u793a\u548c\u53d1\u5e03\u3002<br \/>\n\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0cROS\u4e2d\u4e0d\u5b58\u5728std_msgs\/String\u7c7b\u578b\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"k\">export<\/span> <span class=\"kr\">interface<\/span> <span class=\"nb\">String<\/span> <span class=\"p\">{<\/span>\r\n  <span class=\"nl\">data<\/span><span class=\"p\">:<\/span> <span class=\"kr\">string<\/span><span class=\"p\">;<\/span>\r\n<span class=\"p\">}<\/span>\r\n<\/code><\/pre>\n<p>\u8fd9\u4e2a\u6b65\u9aa4\u662f\u4e3a\u81ea\u5df1\u5b9a\u4e49\u6a21\u5f0f\u7684\u90e8\u5206\u3002<br \/>\n\u6700\u540e\u662fHTML\u3002<\/p>\n<h2>HTML\u7684\u4e2d\u6587\u91ca\u4e49\u662f\u8d85\u6587\u672c\u6807\u8bb0\u8bed\u8a00\u3002<\/h2>\n<pre class=\"post-pre\"><code><span class=\"nt\">&lt;h1&gt;<\/span>ROS connected: {{ isConnected }}<span class=\"nt\">&lt;\/h1&gt;<\/span>\r\n<span class=\"nt\">&lt;h1&gt;<\/span>Subscribed Message:{{ message }}<span class=\"nt\">&lt;\/h1&gt;<\/span>\r\n<span class=\"nt\">&lt;label&gt;<\/span>\r\n  publish message:\r\n  <span class=\"nt\">&lt;input<\/span> <span class=\"na\">type=<\/span><span class=\"s\">\"text\"<\/span> <span class=\"na\">#msg<\/span> <span class=\"nt\">\/&gt;<\/span>\r\n<span class=\"nt\">&lt;\/label&gt;<\/span>\r\n<span class=\"nt\">&lt;button<\/span> <span class=\"na\">(click)=<\/span><span class=\"s\">\"talk(msg.value)\"<\/span><span class=\"nt\">&gt;<\/span>publish<span class=\"nt\">&lt;\/button&gt;<\/span>\r\n\r\n<\/code><\/pre>\n<p>\u6211\u5148\u7b80\u5355\u5730\u5199\u4e86HTML\uff0c\u5f53\u5728\u8f93\u5165\u6846\u4e2d\u8f93\u5165\u6587\u5b57\u5e76\u6309\u4e0b\u201cpublish\u201d\u6309\u94ae\u65f6\uff0c\u5b83\u4f1a\u88ab\u53d1\u5e03\u51fa\u53bb\u3002<\/p>\n<h2>\u5b9e\u9645\u663e\u793a\u7684\u754c\u9762<\/h2>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d3b2c37434c4406c808a0\/46-0.png\" alt=\"Screenshot from 2021-12-15 19-36-21.png\" \/><\/div>\n<h2>\u6267\u884c<\/h2>\n<p>\u6253\u5f00\u7ec8\u7aef<\/p>\n<pre class=\"post-pre\"><code>  roslaunch rosbridge_server rosbridge_websocket.launch\r\n<\/code><\/pre>\n<p>\u8f93\u5165\u8be5\u547d\u4ee4\u540e\uff0c\u670d\u52a1\u5668\u5c06\u542f\u52a8\u5e76\u5f00\u59cb\u4e0e\u7f51\u7ad9\u8fdb\u884c\u901a\u4fe1\u3002\u5982\u679c\u5728\u7f51\u7ad9\u4e0a\u770b\u5230ROS connected:true\uff0c\u8bf4\u660e\u8fde\u63a5\u5df2\u7ecf\u5efa\u7acb\u5b8c\u6210\u3002<\/p>\n<h2>\u8ba2\u9605<\/h2>\n<p>\u521a\u624d\u662f\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u4e0a\u3002 sh\u00ec .)<\/p>\n<pre class=\"post-pre\"><code> rostopic pub \/listener std_msgs\/String \"data: 'hello world'\" \r\n<\/code><\/pre>\n<p>\u8bf7\u5728\u7f51\u7ad9\u4e0a\u8f93\u5165\u201c \u3068\u201d\uff08t\u00f3\uff09 \u3002\u5982\u679c\u5728\u8ba2\u9605\u6d88\u606f\u4e0a\u663e\u793a\u201chello world\uff01\u201d\uff0c\u5219\u8868\u793a\u60a8\u5df2\u8fdb\u884c\u4e86\u8ba2\u9605\u3002<\/p>\n<h2>\u53d1\u5e03<\/h2>\n<p>\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u4e0a<\/p>\n<pre class=\"post-pre\"><code>rostopic echo \/talker\r\n<\/code><\/pre>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d3b2c37434c4406c808a0\/58-0.png\" alt=\"\u30e2\u30b6\u30a4\u30af.png\" \/><\/div>\n<p>\u6211\u53ef\u4ee5\u770b\u51fa\u5df2\u7ecf\u6210\u529f\u53d1\u5e03\u4e86\u3002<\/p>\n<h1>\u7d50\u8ad6-<\/h1>\n<p>\u6211\u6700\u8fd1\u5728Angular\u4e0a\u6210\u529f\u5730\u521b\u5efa\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u7a0b\u5e8f\u6765\u5b9e\u73b0ROS\u548c\u53d1\u5e03\/\u8ba2\u9605\u901a\u4fe1\u3002\u7531\u4e8e\u5728\u7f51\u7edc\u4e0a\u5f88\u5c11\u6709\u5173\u4e8eAngular\u548cROS\u534f\u4f5c\u7684\u8d44\u6e90\uff0c\u6240\u4ee5\u6211\u5e0c\u671b\u8fd9\u80fd\u5e2e\u5230\u4e00\u4e9b\u9047\u5230\u56f0\u96be\u7684\u4eba\u4eec\u3002<\/p>\n<h1>\u8bf7\u63d0\u4f9b\u76f8\u5173\u6587\u732e\u53c2\u8003\u3002<\/h1>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">React\u3067ROS\u306etopic\u3092\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u63cf\u753b\u3057\u306a\u304c\u3089\u30d5\u30ed\u30f3\u30c8\u306b\u5165\u9580\u3059\u308b<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Roslib with Angular 10<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">roslibjs\u306e\u57fa\u672c\u7684\u306a\u4f7f\u3044\u65b9<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u7ae0\u8282\u76ee\u5f55 1. \u6982\u8ff0 2. \u73af\u5883 3. \u5f15\u5165Angular\u7aef 4. \u5f15\u5165ROS\u7aef 5. \u5b9e\u8df5 6. \u7ed3\u8bed \u603b\u7ed3 [&hellip;]<\/p>\n","protected":false},"author":7,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-39548","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u4f7f\u7528Angular\u8fd0\u884croslibjs - 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\/\u4f7f\u7528angular\u8fd0\u884croslibjs\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u4f7f\u7528Angular\u8fd0\u884croslibjs\" \/>\n<meta property=\"og:description\" content=\"\u7ae0\u8282\u76ee\u5f55 1. \u6982\u8ff0 2. \u73af\u5883 3. \u5f15\u5165Angular\u7aef 4. \u5f15\u5165ROS\u7aef 5. \u5b9e\u8df5 6. \u7ed3\u8bed \u603b\u7ed3 [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/zh\/blog\/\u4f7f\u7528angular\u8fd0\u884croslibjs\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - Silicon Cloud\" \/>\n<meta property=\"article:published_time\" content=\"2023-11-25T09:53:11+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2024-04-28T15:43:14+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d3b2c37434c4406c808a0\/46-0.png\" \/>\n<meta name=\"author\" content=\"\u79d1, \u9896\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"\u79d1, \u9896\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"2 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bd%bf%e7%94%a8angular%e8%bf%90%e8%a1%8croslibjs\/\",\"url\":\"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bd%bf%e7%94%a8angular%e8%bf%90%e8%a1%8croslibjs\/\",\"name\":\"\u4f7f\u7528Angular\u8fd0\u884croslibjs - Blog - Silicon 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