{"id":356,"date":"2025-04-25T21:14:44","date_gmt":"2025-04-25T13:14:44","guid":{"rendered":"http:\/\/adrianpierre.cn\/?p=356"},"modified":"2025-04-26T17:14:45","modified_gmt":"2025-04-26T09:14:45","slug":"ros-%e5%9b%9b%e3%80%81launch%e6%96%87%e4%bb%b6%e4%b8%80%e6%ac%a1%e5%90%af%e5%8a%a8%e5%a4%9a%e4%b8%aa%e8%8a%82%e7%82%b9","status":"publish","type":"post","link":"http:\/\/adrianpierre.cn\/index.php\/2025\/04\/25\/ros-%e5%9b%9b%e3%80%81launch%e6%96%87%e4%bb%b6%e4%b8%80%e6%ac%a1%e5%90%af%e5%8a%a8%e5%a4%9a%e4%b8%aa%e8%8a%82%e7%82%b9\/","title":{"rendered":"ROS\u2014\u2014\u56db\u3001launch\u6587\u4ef6\u4e00\u6b21\u542f\u52a8\u591a\u4e2a\u8282\u70b9"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"356\" class=\"elementor elementor-356\">\n\t\t\t\t<div class=\"elementor-element elementor-element-9f2ece1 e-flex e-con-boxed e-con e-parent\" data-id=\"9f2ece1\" 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-b6c22d3 elementor-widget elementor-widget-heading\" data-id=\"b6c22d3\" 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\">\u30fbXML\u8bed\u6cd5<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0d88837 elementor-widget elementor-widget-image\" data-id=\"0d88837\" 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\/20250426105132947.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\/20250426105132947.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-146a2d0 e-flex e-con-boxed e-con e-parent\" data-id=\"146a2d0\" 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-512c6f8 elementor-widget elementor-widget-heading\" data-id=\"512c6f8\" 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\">\u30fb\u7f16\u5199launch\u6587\u4ef6<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6430215 elementor-widget elementor-widget-text-editor\" data-id=\"6430215\" 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>\u00a0 \u00a0 \u00a0 \u00a0 \u82e5\u60f3\u8981\u542f\u52a8\u591a\u4e2a\u8282\u70b9\uff0c\u9700\u8981\u5f00\u975e\u5e38\u591a\u7684\u7ec8\u7aef\uff0c\u5341\u5206\u9ebb\u70e6<\/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-da5d58f elementor-widget elementor-widget-image\" data-id=\"da5d58f\" 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\/20250426105332907.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\/20250426105332907.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-982c05f elementor-widget elementor-widget-text-editor\" data-id=\"982c05f\" 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>\u00a0 \u00a0 \u00a0 \u00a0 \u56e0\u6b64\u7528launch\u6587\u4ef6\u6765\u4e00\u6b21\u542f\u52a8\u591a\u4e2a\u8282\u70b9\uff0c\u9996\u5148\u521b\u5efaall_run_pkg\u5305\uff0c\u5177\u4f53\u6d41\u7a0b\u5982 <a href=\"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\/\" target=\"_blank\" rel=\"noopener\">ROS \u2014\u2014 \u4e00\u3001\u521b\u5efaPackage\u5305\u4e0eNode\u8282\u70b9 <\/a>\u4e2d\u6240\u793a<\/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-b8b5c18 elementor-widget elementor-widget-text-editor\" data-id=\"b8b5c18\" 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<strong>\u6ce8\u610f\uff01all_run_node.cpp\u6587\u4ef6\u4e2d\u4e5f\u9700\u8981\u8fdb\u884c\u8282\u70b9\u521d\u59cb\u5316\uff0c\u4e0d\u7136\u7f16\u8bd1\u4f1a\u4e0d\u6210\u529f\uff01\u5177\u4f53\u6587\u4ef6\u89c1<a href=\"https:\/\/github.com\/Adrian-Pierre\" target=\"_blank\" rel=\"noopener\">github<\/a><\/strong>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-dabe815 elementor-widget elementor-widget-image\" data-id=\"dabe815\" 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\/20250426105639036.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\/20250426105639036.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-f51b941 elementor-widget elementor-widget-text-editor\" data-id=\"f51b941\" 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>\u00a0 \u00a0 \u00a0 \u00a0 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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<div class=\"elementor-element elementor-element-406720b elementor-widget elementor-widget-heading\" data-id=\"406720b\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h3 class=\"elementor-heading-title elementor-size-default\">\u2014\u2014 output = \" screen \"<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-507e7c2 elementor-widget elementor-widget-text-editor\" data-id=\"507e7c2\" 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>\u00a0 \u00a0 \u00a0 \u00a0 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\u53ef\u4ee5\u8ba9\u4e00\u4e2a\u8282\u70b9\u8fd0\u884c\u5728\u4e00\u4e2a\u72ec\u7acb\u7ec8\u7aef\u4e2d\uff0c\u65b9\u4fbf\u67e5\u770b<\/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-6c5ab62 elementor-widget elementor-widget-spacer\" data-id=\"6c5ab62\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b4872e6 elementor-widget elementor-widget-text-editor\" data-id=\"b4872e6\" 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<strong>\u4ee3\u7801\u53ef\u5728\u6211\u7684<a href=\"https:\/\/github.com\/Adrian-Pierre\" target=\"_blank\" rel=\"noopener\">github\u5e93<\/a>\u4e2d\u62ff\u53d6<\/strong>\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\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>\u30fbXML\u8bed\u6cd5 \u30fb\u7f16\u5199launch\u6587\u4ef6 \u00a0 \u00a0 \u00a0 \u00a0 \u82e5\u60f3\u8981\u542f\u52a8\u591a\u4e2a\u8282\u70b9\uff0c\u9700\u8981\u5f00\u975e\u5e38\u591a\u7684\u7ec8\u7aef\uff0c\u5341\u5206\u9ebb\u70e6 \u00a0 \u00a0 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[14],"tags":[],"class_list":["post-356","post","type-post","status-publish","format-standard","hentry","category-ros"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v24.0 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>ROS\u2014\u2014\u56db\u3001launch\u6587\u4ef6\u4e00\u6b21\u542f\u52a8\u591a\u4e2a\u8282\u70b9 - 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