{"id":264,"date":"2025-04-21T00:57:24","date_gmt":"2025-04-20T16:57:24","guid":{"rendered":"http:\/\/adrianpierre.cn\/?p=264"},"modified":"2025-04-21T21:15:09","modified_gmt":"2025-04-21T13:15:09","slug":"ros-%e5%88%9b%e5%bb%bapackage%e5%8c%85%e4%b8%8enode%e8%8a%82%e7%82%b9","status":"publish","type":"post","link":"http:\/\/adrianpierre.cn\/index.php\/2025\/04\/21\/ros-%e5%88%9b%e5%bb%bapackage%e5%8c%85%e4%b8%8enode%e8%8a%82%e7%82%b9\/","title":{"rendered":"ROS \u2014\u2014 \u4e00\u3001\u521b\u5efaPackage\u5305\u4e0eNode\u8282\u70b9"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"264\" class=\"elementor elementor-264\">\n\t\t\t\t<div class=\"elementor-element elementor-element-9378cc5 e-flex e-con-boxed e-con e-parent\" data-id=\"9378cc5\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-8ace5aa elementor-widget elementor-widget-heading\" data-id=\"8ace5aa\" 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src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421011521514.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-dae09f9 e-flex e-con-boxed e-con e-parent\" data-id=\"dae09f9\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-5d88b3b elementor-widget elementor-widget-heading\" data-id=\"5d88b3b\" 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\">\u00b7\u5728CMakeLists.txt\u4e2d\u8bbe\u7f6e\u8282\u70b9\u6e90\u7801\u7684\u7f16\u8bd1\u89c4\u5219<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a5eab3e elementor-widget elementor-widget-image\" data-id=\"a5eab3e\" 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<div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421011642914.png'><img class=\"lazyload lazyload-style-6\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421011642914.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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<div class=\"elementor-element elementor-element-db2aa64 elementor-widget elementor-widget-text-editor\" data-id=\"db2aa64\" 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>\u5728CMake\u6587\u4ef6\u4e2d\u627e\u5230build<\/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-e4e02d3 elementor-widget elementor-widget-image\" data-id=\"e4e02d3\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div 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data-id=\"80ce2cf\" 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>\u627e\u5230\u4e0b\u5217\u4e24\u4e2a\u51fd\u6570\uff0c\u5e76\u5c06\u51fd\u6570\u590d\u5236\uff0c\u653e\u5728\u6587\u4ef6\u6700\u540e<\/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-366b960 elementor-widget elementor-widget-image\" data-id=\"366b960\" 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<div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421011848406.png'><img class=\"lazyload lazyload-style-6\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421011848406.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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<div class=\"elementor-element elementor-element-7c02cb6 elementor-widget elementor-widget-image\" data-id=\"7c02cb6\" 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<div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421011904470.png'><img class=\"lazyload lazyload-style-6\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421011904470.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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<div class=\"elementor-element elementor-element-a7fb64b elementor-widget elementor-widget-text-editor\" data-id=\"a7fb64b\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div 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src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-37a34a5 e-flex e-con-boxed e-con e-parent\" data-id=\"37a34a5\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-50a7083 elementor-widget elementor-widget-heading\" data-id=\"50a7083\" 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\">\u00b7\u7f16\u8bd1\u8fd0\u884c<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8e810ab elementor-widget 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src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421012147783.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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<div class=\"elementor-element elementor-element-cd8872d elementor-widget elementor-widget-text-editor\" data-id=\"cd8872d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div 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data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421012321672.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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<div class=\"elementor-element elementor-element-a10bae6 elementor-widget elementor-widget-text-editor\" data-id=\"a10bae6\" 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>roscore\u542f\u52a8ROS\u6838\u5fc3<\/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-640db93 elementor-widget elementor-widget-image\" data-id=\"640db93\" 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<div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421012503133.png'><img class=\"lazyload lazyload-style-6\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421012503133.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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<div class=\"elementor-element elementor-element-6b037d9 elementor-widget elementor-widget-text-editor\" data-id=\"6b037d9\" 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>rosrun\u8fd0\u884c\u8282\u70b9<\/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-06870ec elementor-widget elementor-widget-image\" data-id=\"06870ec\" 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<div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421012522656.png'><img class=\"lazyload lazyload-style-6\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/adrian-imagebed.oss-cn-hangzhou.aliyuncs.com\/blog\/20250421012522656.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/div>\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<div class=\"elementor-element elementor-element-7c07021 elementor-widget elementor-widget-text-editor\" data-id=\"7c07021\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div 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