{"id":46396,"date":"2023-02-13T01:51:43","date_gmt":"2023-09-29T05:25:20","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/"},"modified":"2024-04-29T14:21:49","modified_gmt":"2024-04-29T06:21:49","slug":"46396-2","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/","title":{"rendered":""},"content":{"rendered":"

Ubuntu\u306b\u3066Python+ROS\u3092\u4f7f\u3063\u3066Intel Realsense\u30ab\u30e1\u30e9\u304b\u3089\u6df1\u5ea6\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u65b9\u6cd5\u3002<\/p>\n

ROS, Intel Realsense\u30ab\u30e1\u30e9\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u65b9\u6cd5\u306f\u524d\u56de\u306e\u8a18\u4e8b\u53c2\u7167\u3002
\nUbuntu\u3067Intel Realsense D415\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u307e\u3067(ROS\u3042\u308a\u30fb\u306a\u3057\u4e21\u65b9)<\/p>\n

\u4eca\u56de\u306fRealsense\u30ab\u30e1\u30e9\u304b\u3089RGB\u753b\u50cf\u60c5\u5831\u3001\u6df1\u5ea6\u60c5\u5831\u3092ROS+Python\u3092\u4f7f\u3063\u3066\u53d6\u5f97\u3057\u3066\u3044\u304f\u3002
\nJupyter notebook\u304b\u3089ROS\u3092\u64cd\u4f5c\u3067\u304d\u308bJupyter ROS\u3092\u4f7f\u7528\u3057\u305f\u304c\u3001\u3064\u307e\u308b\u30dd\u30a4\u30f3\u30c8\u304c\u3044\u304f\u3064\u304b\u3042\u3063\u305f\u305f\u3081\u3001\u8a18\u3059\u3002
\n\u307e\u305f\u6b21\u56de\u306fJupyter\u3092\u4f7f\u308f\u306a\u3044\u65b9\u6cd5\u3092\u8a66\u3057\u3066\u3044\u304f\u3002<\/p>\n

\u76ee\u6b21
\n1. \u30bb\u30c3\u30c8\u30a2\u30c3\u30d7
\n2. ROS Publisher, Subscriber, topic\u306b\u3064\u3044\u3066
\n3. Python\u3067Subscriber\u3092\u66f8\u304f<\/p>\n

\u74b0\u5883<\/h1>\n

Ubuntu 18.04
\nROS Melodic
\nPython 3.6 (Anaconda)
\nRealsense D415<\/p>\n

1. \u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/h1>\n

1.1 rospy<\/h2>\n

Python\u3067ROS\u3092\u6271\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306brospy\u3092\u7528\u3044\u308b\u3002
\n\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306fpip\u306b\u3066\u884c\u3046\u3002
\npip install rospy<\/p>\n

\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5f8c\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u30a8\u30e9\u30fc\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u3067\u305f\u3002\u30a8\u30e9\u30fc\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u51fa\u308b\u539f\u56e0\u306f\u3044\u304f\u3064\u304b\u3042\u308b\u307f\u305f\u3044\u3060\u304c\u3001\u81ea\u5206\u306e\u5834\u5408\u306fpip install rospkg\u306b\u3088\u308arospkg\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u3067\u89e3\u6c7a\u3067\u304d\u305f\u3002<\/p>\n

import<\/span> rospy<\/span>\r\n<\/code><\/pre>\n
1.2 jupyter-ros\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/h2>\n
\u4eca\u56de\u306fROS\u306e\u7d50\u679c\u3092\u3059\u3050\u306b\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306bjupyter\u304b\u3089ROS\u3092\u64cd\u4f5c\u3059\u308b\u65b9\u6cd5\u3092\u8a66\u3057\u305f\u3002jupyter\u304b\u3089\u306e\u64cd\u4f5c\u306f\u6a19\u6e96\u7684\u306a\u3082\u306e\u3067\u306f\u306a\u304f\u958b\u767a\u9014\u4e2d\u3067\u3042\u308b\u305f\u3081\u52d5\u4f5c\u304c\u5b89\u5b9a\u3057\u306a\u3044\u3002
\nhttps:\/\/github.com\/RoboStack\/jupyter-ros<\/p>\n
\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306fgithub\u306b\u8f09\u3063\u3066\u3044\u308b\u3002
\nhttps:\/\/github.com\/RoboStack\/jupyter-ros#installation-and-dependencies<\/p>\n
pip install jupyter-ros
\njupyter nbextension enable –py –sys-prefix jupyros<\/p>\n
2. ROS Publisher, Subscriber, topic\u306b\u3064\u3044\u3066<\/h1>\n
ROS\u306f\u30c7\u30fc\u30bf\u3092topic\u3068\u3057\u3066\u3084\u308a\u3068\u308a\u3059\u308b\u3002Topic\u3092\u4f5c\u308a\u767a\u4fe1\u3059\u308bnode\u3092publisher, \u53d7\u3051\u53d6\u308bnode\u3092subscriber\u3068\u547c\u3076\u3002
\n\u4eca\u56de\u306frealsense\u304c\u753b\u50cf\u306etopic\u3092publish\u3057\u3001Python\u3067\u5b9a\u7fa9\u3057\u305fnode\u304c\u305d\u306etopic\u3092subscribe\u3059\u308b\u3002<\/p>\n
realsense\u7acb\u3061\u4e0a\u3052<\/h2>\n
\u307e\u305a\u306frealsense\u306enode\u3092\u7acb\u3061\u4e0a\u3052\u308b\u3002
\n\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u3066
\nroslaunch realsense2_camera rs_camera.launch<\/p>\n
Topic\u3092\u78ba\u8a8d\u3059\u308b<\/h2>\n
\"image.png\"<\/div>\n
relasense-ros\u3067\u3082\u4e00\u90e8\u3092\u78ba\u8a8d\u3067\u304d\u308b
\nhttps:\/\/github.com\/IntelRealSense\/realsense-ros#usage-instructions<\/p>\n
\u305d\u308c\u305e\u308c\u306etopic\u306f\u578b\u304c\u6c7a\u307e\u3063\u3066\u304a\u308a\u3001\u5f8c\u306btopic\u3092subscribe\u3059\u308b\u3068\u304d\u306b\u578b\u3092\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u524d\u3001\u78ba\u8a8d\u3059\u308b\u3002
\n\u3053\u308c\u306b\u306frostopic type\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u7528\u3059\u308b\u3002
\n\u4f8b\u3048\u3070\/camera\/color\/image_raw\/compressed\u306e\u578b\u3092\u78ba\u8a8d\u3059\u308b\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3059\u308b\u3002
\nrostopic type \/camera\/color\/image_raw\/compressed<\/p>\n
sensor_msgs\/CompressedImage\u3068\u3044\u3046\u578b\u3067\u3042\u308b\u3053\u3068\u304c\u308f\u304b\u308b\u3002<\/p>\n
\n
topic nametype\/camera\/color\/image_rawImage\/camera\/color\/image_raw\/compressedCompressedImage\/camera\/depth\/image_rect_rawImage\/camera\/depth\/image_rect_raw\/compressedCompressedImage<\/div>\n<\/div>\n
3. Python\u3067Subscriber\u3092\u66f8\u304f<\/h1>\n
\u4eca\u56de\u306fJuypter\u3067subscriber\u3092\u66f8\u304f\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8a18\u3059\u3002\u3044\u304f\u3064\u304b\u3064\u307e\u305a\u3044\u305f\u306e\u3067\u6b21\u56de\u306fJupyter\u3092\u4f7f\u308f\u306a\u3044\u65b9\u6cd5\u3092\u8a66\u3059\u3002
\nROS+Python\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u306b\u306fJupyter\u3092\u4f7f\u308f\u306a\u3044\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8a18\u3055\u308c\u3066\u3044\u3066\u53c2\u8003\u306b\u306a\u308b\u3002
\nhttp:\/\/wiki.ros.org\/ja\/ROS\/Tutorials\/WritingPublisherSubscriber%28python%29<\/p>\n
rospy\u3068jupyros\u306e\u30a4\u30f3\u30dd\u30fc\u30c8<\/p>\n
\r\nimport<\/span> rospy<\/span> as<\/span> rp<\/span>\r\nimport<\/span> jupyros<\/span> as<\/span> jr<\/span>\r\n<\/code><\/pre>\n
topic\u306e\u578b\u306e\u30a4\u30f3\u30dd\u30fc\u30c8<\/p>\n
from<\/span> sensor_msgs.msg<\/span> import<\/span> CompressedImage<\/span>,<\/span> Image<\/span>\r\nfrom<\/span> std_msgs.msg<\/span> import<\/span> String<\/span>\r\n<\/code><\/pre>\n
Node\u306e\u7acb\u3061\u4e0a\u3052<\/p>\n
rp<\/span>.<\/span>init_node<\/span>(<\/span>'test'<\/span>)<\/span>\r\n<\/code><\/pre>\n
Subscriber\u306e\u6e96\u5099
\ncallback\u95a2\u6570(\u53d7\u3051\u305f\u5165\u529b\u3092\u51e6\u7406\u3059\u308b\u95a2\u6570)\u3092\u5b9a\u7fa9\u3059\u308b
\n\u53d7\u3051\u53d6\u3063\u305f\u30c7\u30fc\u30bf\u3092numpy array\u306b\u5909\u63db\u3059\u308b
\n\u7528\u9014\u306b\u3088\u3063\u3066\u306f\u3053\u3053\u304b\u3089\u66f4\u306b\u51e6\u7406\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd<\/p>\n
def<\/span> call_back<\/span>(<\/span>ros_data<\/span>):<\/span>\r\n    np_arr<\/span> =<\/span> np<\/span>.<\/span>fromstring<\/span>(<\/span>ros_data<\/span>.<\/span>data<\/span>,<\/span> np<\/span>.<\/span>uint8<\/span>)<\/span>\r\n    print<\/span>(<\/span>np_arr<\/span>)<\/span>\r\n<\/code><\/pre>\n
Subscribe\u3059\u308b
\njr.subscribe(topic name, topic type, call back function)<\/p>\n
jr<\/span>.<\/span>subscribe<\/span>(<\/span>'camera\/depth\/image_rect_raw\/compressed'<\/span>,<\/span>CompressedImage<\/span>,<\/span>call_back<\/span>)<\/span>\r\n<\/code><\/pre>\n
\u3053\u308c\u306b\u3088\u308anumpy array\u304c\u30d7\u30ea\u30f3\u30c8\u3055\u308c\u308b\u3088\u3046\u306b\u306a\u308c\u3070\u6210\u529f\u3002<\/p>\n
jupyter ros\u306e\u4e0d\u5177\u5408\u4fee\u6b63
\n\u3057\u304b\u3057\u81ea\u5206\u306e\u5834\u5408\u306f\u30a8\u30e9\u30fc\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u3002<\/p>\n
\"image.png\"<\/div>\n
\"image.png\"<\/div>\n
        if<\/span> thread_name<\/span> !=<\/span> 'MainThread'<\/span>:<\/span>\r\n            # output_registry[threading.currentThread().getName()].append_stdout(msg)\r\n<\/span>            self<\/span>.<\/span>original<\/span>.<\/span>write<\/span>(<\/span>msg<\/span>)<\/span>\r\n<\/code><\/pre>\n
\u307e\u305f\u672c\u984c\u3068\u306f\u305a\u308c\u308b\u304c\u3001pip\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u308b\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u306f49-50\u884c\u76ee\u304c\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u304c\u3001<\/p>\n
if<\/span> subscriber_registry<\/span>.<\/span>get<\/span>(<\/span>topic<\/span>):<\/span> \r\n    raise<\/span> Error<\/span>(<\/span>\"Already registerd...\"<\/span>)<\/span> \r\n<\/code><\/pre>\n
\u3053\u308c\u306f\u6b63\u3057\u304f\u306f\u4ee5\u4e0b\u306e\u3068\u304a\u308a\u3067\u3042\u308b\u3002github\u3067\u306f\u4fee\u6b63\u3055\u308c\u3066\u3044\u308b\u3002<\/p>\n
if<\/span> subscriber_registry<\/span>.<\/span>get<\/span>(<\/span>topic<\/span>):<\/span> \r\n    raise<\/span> RuntimeError<\/span>(<\/span>\"Already registerd...\"<\/span>)<\/span> \r\n<\/code><\/pre>\n
\u81ea\u5206\u306e\u5834\u5408\u306f\u3053\u308c\u306b\u3088\u308arealsense\u304b\u3089\u3081\u3067\u305f\u304f\u753b\u50cf\u3001\u6df1\u5ea6\u30c7\u30fc\u30bf\u3092\u53d6\u5f97\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u3063\u305f\u3002<\/p>\n
\u6b21\u56de<\/h1>\n
\u4eca\u56de\u306fJupyter\u3067ROS\u3092\u6271\u3046\u3053\u3068\u3092\u8a66\u307f\u305f\u305f\u3081\u82e6\u6226\u3057\u305f\u3002\u6b21\u56de\u306fJupyter\u3092\u4f7f\u308f\u305a\u306b\u30c7\u30fc\u30bf\u3092\u53d7\u3051\u53d6\u308b\u3053\u3068\u3092\u8a66\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
Ubuntu\u306b\u3066Python+ROS\u3092\u4f7f\u3063\u3066Intel Realsense\u30ab\u30e1\u30e9\u304b\u3089\u6df1\u5ea6\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u65b9\u6cd5\u3002  […]<\/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-46396","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"\n- 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\/46396-2\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:description\" content=\"Ubuntu\u306b\u3066Python+ROS\u3092\u4f7f\u3063\u3066Intel Realsense\u30ab\u30e1\u30e9\u304b\u3089\u6df1\u5ea6\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u65b9\u6cd5\u3002 […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - Silicon Cloud\" \/>\n<meta property=\"article:published_time\" content=\"2023-09-29T05:25:20+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2024-04-29T06:21:49+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d649937434c4406d04dac\/20-0.png\" \/>\n<meta name=\"author\" content=\"\u79d1, \u96c5\" \/>\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, \u96c5\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"1 \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\/46396-2\/\",\"url\":\"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/\",\"name\":\"- Blog - Silicon Cloud\",\"isPartOf\":{\"@id\":\"https:\/\/www.silicloud.com\/zh\/blog\/#website\"},\"datePublished\":\"2023-09-29T05:25:20+00:00\",\"dateModified\":\"2024-04-29T06:21:49+00:00\",\"author\":{\"@id\":\"https:\/\/www.silicloud.com\/zh\/blog\/#\/schema\/person\/41e222757cdd2a3365361328bd79970a\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/\"]}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.silicloud.com\/zh\/blog\/#website\",\"url\":\"https:\/\/www.silicloud.com\/zh\/blog\/\",\"name\":\"Blog - Silicon Cloud\",\"description\":\"\",\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.silicloud.com\/zh\/blog\/#\/schema\/person\/41e222757cdd2a3365361328bd79970a\",\"name\":\"\u79d1, \u96c5\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.silicloud.com\/zh\/blog\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/secure.gravatar.com\/avatar\/1b2d3e00a7df03689797ebd4af8c5827ba5af936849a71050ec331f4cf902c5d?s=96&d=mm&r=g\",\"contentUrl\":\"https:\/\/secure.gravatar.com\/avatar\/1b2d3e00a7df03689797ebd4af8c5827ba5af936849a71050ec331f4cf902c5d?s=96&d=mm&r=g\",\"caption\":\"\u79d1, \u96c5\"},\"url\":\"https:\/\/www.silicloud.com\/zh\/blog\/author\/keya\/\"},{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/#local-main-organization-logo\",\"url\":\"\",\"contentUrl\":\"\",\"caption\":\"Blog - Silicon Cloud\"}]}<\/script>\n<!-- \/ Yoast SEO Premium plugin. -->","yoast_head_json":{"title":"- Blog - Silicon Cloud","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/","og_locale":"zh_CN","og_type":"article","og_description":"Ubuntu\u306b\u3066Python+ROS\u3092\u4f7f\u3063\u3066Intel Realsense\u30ab\u30e1\u30e9\u304b\u3089\u6df1\u5ea6\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u65b9\u6cd5\u3002 […]","og_url":"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/","og_site_name":"Blog - Silicon Cloud","article_published_time":"2023-09-29T05:25:20+00:00","article_modified_time":"2024-04-29T06:21:49+00:00","og_image":[{"url":"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d649937434c4406d04dac\/20-0.png"}],"author":"\u79d1, \u96c5","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"\u79d1, \u96c5","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"1 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/","url":"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/","name":"- Blog - Silicon Cloud","isPartOf":{"@id":"https:\/\/www.silicloud.com\/zh\/blog\/#website"},"datePublished":"2023-09-29T05:25:20+00:00","dateModified":"2024-04-29T06:21:49+00:00","author":{"@id":"https:\/\/www.silicloud.com\/zh\/blog\/#\/schema\/person\/41e222757cdd2a3365361328bd79970a"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/"]}]},{"@type":"WebSite","@id":"https:\/\/www.silicloud.com\/zh\/blog\/#website","url":"https:\/\/www.silicloud.com\/zh\/blog\/","name":"Blog - Silicon Cloud","description":"","inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.silicloud.com\/zh\/blog\/#\/schema\/person\/41e222757cdd2a3365361328bd79970a","name":"\u79d1, \u96c5","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.silicloud.com\/zh\/blog\/#\/schema\/person\/image\/","url":"https:\/\/secure.gravatar.com\/avatar\/1b2d3e00a7df03689797ebd4af8c5827ba5af936849a71050ec331f4cf902c5d?s=96&d=mm&r=g","contentUrl":"https:\/\/secure.gravatar.com\/avatar\/1b2d3e00a7df03689797ebd4af8c5827ba5af936849a71050ec331f4cf902c5d?s=96&d=mm&r=g","caption":"\u79d1, \u96c5"},"url":"https:\/\/www.silicloud.com\/zh\/blog\/author\/keya\/"},{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.silicloud.com\/zh\/blog\/46396-2\/#local-main-organization-logo","url":"","contentUrl":"","caption":"Blog - Silicon Cloud"}]}},"_links":{"self":[{"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/posts\/46396","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/comments?post=46396"}],"version-history":[{"count":2,"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/posts\/46396\/revisions"}],"predecessor-version":[{"id":85792,"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/posts\/46396\/revisions\/85792"}],"wp:attachment":[{"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/media?parent=46396"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/categories?post=46396"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.silicloud.com\/zh\/blog\/wp-json\/wp\/v2\/tags?post=46396"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}