Indlela yokuvula ifayela le-ROS

Emhlabeni wamarobhothi, amafayela e-ROS (I-Robot Operating System) adlala indima ebalulekile ekuthuthukisweni nasekusebenzeni kwezinhlelo ezizimele. Lawa mafayela aqukethe ulwazi olubalulekile oluvumela ukuxhumana nokuxhumana phakathi kwezingxenye ezihlukene zerobhothi, ehlinzeka ngeplathifomu yesofthiwe eguquguquka kakhulu nengalawuleki. Kulesi sihloko, sizohlola ngokuningiliziwe ukuthi singavula kanjani ifayela le-ROS, sinikeze abathanda amarobhothi a Igxathu emvakwe gxathu inembile futhi icacile ukuze ufinyelele idatha ebalulekile ngaphakathi kwalawa mafayela. Kungakhathaliseki ukuthi usaqala emkhakheni wamarobhothi noma ungunjiniyela onolwazi, ukuqonda indlela yokuvula nokusebenzisa amafayela e-ROS kuzokuvumela ukuthi uvule amandla aphelele wezinhlelo asekelwe kulobu buchwepheshe obuphambili. [END

1. Isingeniso samafayela e-ROS nokubaluleka kwawo kumarobhothi

Amafayela e-ROS adlala indima ebalulekile emkhakheni wamarobhothi, njengoba evumela ukugcinwa nokwabelana ngolwazi olubalulekile ekusebenzeni kwamarobhothi. Lawa mafayela aqukethe idatha ebalulekile njengezincazelo zemvelo, amamodeli amarobhothi, ukulungiselelwa kwesilawuli, namalogi omsebenzi. Ukubaluleka kwamafayela e-ROS kusemandleni awo okwenza kube lula ukuxhumana nokusebenzisana phakathi kwezingxenye ezihlukene zesistimu yerobhothi.

Okokuqala, amafayela e-ROS abalulekile ekuthuthukisweni kwamarobhothi kanye nezinhlelo. Abahleli bangakha futhi baguqule amafayela e-ROS ukuze achaze indlela amarobhothi aziphatha ngayo, asethe amapharamitha okulawula, futhi ahlele ukunyakaza. Lawa mafayela ahlinzeka ngendlela emisiwe yokuchaza izici nokusebenza kwerobhothi, enze ukuthuthukiswa nokulungisa amaphutha kwezinhlelo zokusebenza zerobhothi kube lula.

Ngaphezu kwalokho, amafayela e-ROS adlala indima ebalulekile ekulingiseni amarobhothi nasekuboneni ngeso. Ngosizo lwamathuluzi okulingisa afana ne-Gazebo ne-RViz, abathuthukisi bangasebenzisa amafayela e-ROS ukuze badale kabusha izindawo eziyinkimbinkimbi nezimo futhi bahlole ukuziphatha kwamarobhothi ngaphansi kwezimo ezilingisayo. Lokhu konga isikhathi nezinsiza njengoba izinkinga nemisebenzi ingaxazululwa futhi ihlolwe cishe ngaphambi kokuba izixazululo zisetshenziswe ku-hardware ebonakalayo.

Ngamafuphi, amafayela e-ROS ayingxenye ebalulekile yamarobhothi futhi adlala indima ebalulekile ekuthuthukisweni kwamarobhothi, ukuhlela, ukulingisa, nokubona ngeso lengqondo. Lawa mafayela avumela ukugcinwa nokwabelana ngolwazi olubalulekile ekusebenzeni kwamarobhothi, kube lula ukuxhumana nokusebenzisana phakathi kwezingxenye ezihlukene zesistimu yerobhothi. Ngekhono lawo lokuchaza izici zerobhothi nokusebenza, amafayela e-ROS enza lula ukuthuthukiswa kohlelo lokusebenza futhi anike amandla ukuxazulula izinkinga. ngempumelelo.

2. Izimfuneko zokuvula ifayela le-ROS

Ngaphambi kokuvula ifayela le-ROS, kuyadingeka ukuthi ube nezimfuneko ezithile eziqinisekisa ukusebenza kahle kohlelo. Ngezansi amaphuzu alandelayo okufanele acatshangelwe:

1. Faka i-ROS: Ukuze uvule futhi usebenze ngamafayela e-ROS, kubalulekile ukuthi i-ROS ifakwe kufayela isistimu esebenzayo. Ungalandela izinyathelo zokufaka ezinikezwe kuwebhusayithi esemthethweni ye-ROS, lapho kutholakala khona imibhalo enemininingwane nezifundiso.

2. Yazi ukwakheka kwefayela le-ROS: Kubalulekile ukuqonda isakhiwo kusuka kufayela I-ROS ngaphambi kokuyivula. Ifayela le-ROS lakhiwe izigaba ezihlukahlukene ezifana nezihloko, imilayezo, amasevisi, nezenzo. Ukujwayelana nalezi zingxenye kubalulekile ukuze uqonde futhi uhlele ifayela ngendlela efanele.

3. Sebenzisa amathuluzi afanele: Kunamathuluzi ahlukahlukene akwenza kube lula ukuvula nokubuka amafayela e-ROS. Isibonelo, ungasebenzisa umyalo we-rosbag ukufunda nokudlala amafayela esikhwama se-ROS. Ukwengeza, ungasebenzisa abahleli bombhalo abakhethekile be-ROS, njenge-RViz noma i-RQT, ukuze ubuke futhi ulungise okuqukethwe kwefayela ngendlela enembile nangempumelelo.

3. Ukufaka i-ROS ohlelweni lwakho lokusebenza

Ukufaka i-ROS kuvuliwe uhlelo lwakho lokusebenzaLandela lezi zinyathelo:

1. Okokuqala, qiniseka ukuthi unesistimu yokusebenza ehambisanayo. I-ROS isekelwa ukusatshalaliswa kweLinux okuningana, okufana no-Ubuntu, i-Debian, ne-Fedora. Ukwengeza, kubalulekile ukuthi uhlelo lwakho lokusebenza lube nenguqulo ehambisana nenguqulo ye-ROS ofuna ukuyifaka.

2. Uma usuqinisekisile ukuhambisana, ungaqhubeka nokufaka. Kunezindlela ezahlukahlukene zokwenza lokhu, kepha enye evame kakhulu ukusebenzisa umphathi wephakheji we-ROS. Nansi imiyalo okufanele uyisebenzise kutheminali:

isibuyekezo se-sudo apt-get
sudo apt-get install ros--ideskithophu-igcwele

3. Ngemva kokufaka i-ROS, kubalulekile ukulungisa indawo yakho. Lokhu kuhlanganisa ukwengeza imigqa embalwa yekhodi efayeleni lakho lokucushwa kwetheminali. Ukuze wenze lokhu, kufanele uvule ifayela elithi .bashrc ngesihleli sombhalo bese wengeza imigqa elandelayo ekugcineni kwefayela:

umthombo /opt/ros//setup.bash
thekelisa i-ROS_MASTER_URI=http://localhost:11311
thekelisa i-ROS_IP=ikheli_lakho_ip

Qiniseka ukuthi ufaka esikhundleni «» ngokusatshalaliswa kwe-ROS okufakile kanye ne-«your_ip_address» nekheli le-IP lekhompyutha yakho. Uma usulondolozile izinguquko zakho, vala uphinde uvule itheminali ukuze izinguquko zisebenze.

4. Ukumiswa kwe-ROS okuyisisekelo kokuvula ifayela

Kulesi sigaba uzofunda ukwenza ukucushwa okuyisisekelo kwe-ROS (I-Robot Operating System) yokuvula amafayela. Ngezansi kunezinyathelo ezidingekayo zokuxazulula le nkinga.

1. Faka i-ROS: Okokuqala, qiniseka ukuthi ufake i-ROS ohlelweni lwakho. Ungathola okokufundisa neziqondiso ku-inthanethi ukuze ufake ngokusho uhlelo lokusebenza oyisebenzisayo. Kubalulekile ukuthi i-ROS imiswe kahle ngaphambi kokuqhubeka.

2. Dala iphakheji ye-ROS: Uma i-ROS isifakiwe, uzodinga ukudala iphakheji ye-ROS yephrojekthi yakho. Ungasebenzisa umyalo othi `catkin_create_pkg` ulandelwe yigama lephakheji nokuncika okudingekayo. Lokhu kuzodala uhlaka lwemibhalo oludingekayo lwephrojekthi yakho.

3. Engeza amafayela kuphakheji: Manje, uzodinga ukwengeza amafayela ofuna ukuwavula kuphakheji yakho ye-ROS. Ungakopisha amafayela kuhla lwemibhalo `src` lwephakeji yakho noma udale ezinye iziqondiso ezingaphansi njengoba kudingeka. Qiniseka ukuthi amafayela akufomethi elungile futhi afundeka yi-ROS.

Uma lezi zinyathelo seziqediwe, uzobe usuyimisile i-ROS yokuvula amafayela. Khumbula ukuthi lokhu kumane kuwukusetha kokuqala futhi kungase kube nezinyathelo ezengeziwe ezidingekayo kuye ngezidingo ezithile zephrojekthi yakho. Uma uhlangabezana nobunzima phakathi nenqubo, ungabonisana nezifundo eziku-inthanethi noma ufune usizo kumphakathi we-ROS.

5. Isinyathelo ngesinyathelo indlela yokuvula ifayela le-ROS endaweni yakho yokuthuthuka

Ukuze uvule ifayela le-ROS endaweni yakho yokuthuthukiswa, landela lezi zinyathelo ezinemininingwane:

1. Okokuqala, qiniseka ukuthi une-ROS efakiwe kusistimu yakho. Uma ungenayo, ungalandela okokufundisa okusemthethweni kokufaka i-ROS.
2. Okulandelayo, vula itheminali bese usebenzisa umyalo umthombo /opt/ros//setup.bash ukuze ulungiselele imvelo ye-ROS.
3. Ngemuva kokuthi ulungiselele indawo ngendlela efanele, ungavula ifayela le-ROS usebenzisa umhleli wekhodi owuthandayo. Khumbula ukuthi amafayela e-ROS ngokuvamile anesandiso ukuqaliswa o .cpp.
4. Uma usulivulile ifayela, ungahlola elikuqukethe ukuze uzijwayeze nekhodi. Ungathola amazwana awusizo nezincazelo ngaphakathi kwefayela ukukusiza uqonde ukusebenza kwalo.
5. Uma udinga ukusebenzisa ifayela le-ROS, ungasebenzisa umyalo roslaunch file.launch kutheminali ukuze uqale inodi ehambisanayo noma inqubo.

Khumbula ukuthi kunamathuluzi amaningana atholakalayo angenza kube lula ukuvula nokuhlela amafayela e-ROS. Ezinye zazo zihlanganisa i-integrated development environment (IDE) I-ROS Development Studio (ROSDS) kanye nomhleli wombhalo Ikhodi ye-Visual Studio ngezandiso ezithile ze-ROS. Lawa mathuluzi ahlinzeka ngezici ezengeziwe ezifana nokuqedela ngokuzenzakalela kwekhodi, ukugqamisa i-syntax, nokulungisa iphutha.

Manje usukulungele ukuvula nokusebenza ngamafayela e-ROS endaweni yakho yokuthuthuka! Landela lezi zinyathelo futhi usebenzise ngokugcwele amandla e-ROS ukuze uthuthukise futhi ulungise iphutha lezinhlelo zakho zokusebenza zerobhothi.

6. Ukuhlola ukwakheka kwefayela le-ROS nokuqukethwe kwalo

Lapho uhlola ukwakheka kwefayela le-ROS nokuqukethwe kwalo, kubalulekile ukuqonda inhlangano nokuhlelwa kwamafayela namafolda ohlelweni. Lesi sakhiwo se-hierarchical sivumela ukugcina ukuvumelana kanye ne-modularity yezingxenye endaweni ye-ROS.

Okokuqala, kubalulekile ukuqaphela ukuthi ifayela le-ROS ngokuvamile lilandela isimiso sokuba nesakhiwo sefolda engumzali, njengokuthi i-src, umlayezo, i-srv y ukwethulwa. Lawa mafolda aqukethe izinsiza ezibalulekile ezidingekayo ekusebenzeni kwawo.

Ifolda i-src (umthombo) isingatha amaphakheji e-ROS, okuyiyunithi yokwakha eyisisekelo ku-ROS. Iphakheji ngayinye iqukethe amafayela anekhodi yomthombo, amalabhulali, okusebenzisekayo, nezinye izinsiza ezidingekayo kuphakheji ethile. Ngaphakathi kwephakheji, kuvamile ukuthola amafolda amancane aqukethe ama-node asebenzisekayo kanye amanye amafayela kuyadingeka.

7. Amathuluzi anconyiwe nezinhlelo zokubuka amafayela e-ROS

Kukhona eziningana. Lezi zinhlelo zokusebenza zisiza ukubonwa nokuhlaziywa kwedatha ekhiqizwe isistimu yokusebenza yamarobhothi e-ROS. Ngezansi sizoklelisa ezinye izinketho ezidumile ezingase zibe usizo kubasebenzisi abasebenza ngamafayela e-ROS.

1. I-RViz: Kuyithuluzi lokubuka le-3D eliyingxenye yohlaka lwe-ROS. Ivumela ukubonwa kwedatha ngesikhathi sangempela, njengamamodeli e-3D, amafu akhomba namamephu. Ukwengeza, i-RViz inikeza izinketho zokumisa ukuze zivumelane nezidingo ezithile zomsebenzisi. I-RViz ingasetshenziswa ukubuka ulwazi kusuka kuzinzwa, izinhlelo zokuzulazula noma ukuhlela umzila, phakathi kokunye.

2. I-RQT: Iwuhlelo lwamathuluzi abonakalayo ngaphakathi kwe-ROS ahlanganisa ama-plugin ahlukene emisebenzi ethile. I-RQT inezinhlobonhlobo eziningi zama-plugin, njenge-Console Viewer, i-System Monitor noma i-Graphics Viewer ukuze ibonise ngokucacile ukwakheka kwesistimu ye-ROS. Ukwengeza, i-RQT ikuvumela ukuthi wenze ngendlela oyifisayo isikhombimsebenzisi ngokuya ngokuthanda komsebenzisi.

3. I-Gazebo: Iyindawo yokulingisa ye-3D engasetshenziswa ngokuhambisana ne-ROS ukuze ubone ngeso lengqondo futhi ulingise amarobhothi kanye nezindawo ezibonakalayo. Nge-Gazebo, kungenzeka ukuthi udale izimo eziyinkimbinkimbi futhi wenze izivivinyo nokuhlola ngaphandle kwesidingo serobhothi elibonakalayo. Leli thuluzi liwusizo kakhulu ukulungisa iphutha nokuhlola amasu okulawula ngaphambi kokuwasebenzisa erobhothini langempela.

Kunamathuluzi amaningi nezinhlelo eziningi ezingaba usizo ekubukeni amafayela e-ROS, kodwa i-RViz, i-RQT, ne-Gazebo ezinye izinketho eziphawulekayo. Lawa mathuluzi anikeza izinhlobonhlobo zokusebenza ezikuvumela ukuthi ubone ngeso lengqondo, uhlaziye futhi ulingise idatha ekhiqizwe endaweni ye-ROS. Linga ngamathuluzi ahlukene futhi uthole ukuthi yiliphi elifanelana nezidingo zakho. Hlola amandla e-ROS futhi uthole okuningi kuyo! amafayela akho!

8. Ukuxazulula izinkinga ezivamile lapho uzama ukuvula ifayela le-ROS

Uma uzama ukuvula ifayela le-ROS, kuvamile ukubhekana nezinkinga ezithile. Ngenhlanhla, zikhona izixazululo ezitholakalayo zokuxazulula lobu bunzima. Lapha sizokunikeza iziphakamiso zokuthi ukuxazulula izinkinga okujwayelekile lapho uvula amafayela e-ROS:

Isixazululo 1: Qinisekisa ukuthi ifayela le-ROS likufomethi elungile. Qiniseka ukuthi isandiso sefayela sithi “.ros”. Uma ifayela linesandiso esihlukile, ungase udinge ukuliguqulela kufomethi efanele. Ungasebenzisa amathuluzi afana ne-ROSbag, i-ROSpy noma i-rosbag_transform ukuze wenze lokhu kuguqulwa.

Isixazululo 2: Qinisekisa ukuthi unenguqulo efanele ye-ROS efakwe kusistimu yakho. Ezinye izinguqulo ezindala ze-ROS zingase zingasebenzisani namafayela athile e-ROS. Ungahlola inguqulo ye-ROS oyifakile usebenzisa umyalo rosversion Kutheminali. Uma inguqulo yamanje ingasekelwe, cabanga ukuthuthukela enguqulweni entsha.

Isixazululo 3: Qiniseka ukuthi wonke amaphakheji adingekayo nezinto ezincikile zifakwe ngendlela efanele. Amanye amafayela e-ROS angase adinge amaphakheji engeziwe ukuze avuleke ngendlela efanele. Ungasebenzisa umphathi wephakheji we-ROS, njenge apt-get o yum, ukufaka okuncikile okungekho. Futhi, qinisekisa ukuthi uhla lwemibhalo oludingekayo nezindlela zimiswe ngendlela efanele endaweni yakho ye-ROS.

9. Ungawabuyekeza kanjani futhi uwaguqule kanjani amafayela e-ROS abe izinguqulo ezihambisanayo

Ukuze ubuyekeze futhi uguqule amafayela e-ROS abe izinguqulo ezihambisanayo, ungalandela lezi zinyathelo:

1. Okokuqala, qiniseka ukuthi unenguqulo yakamuva ye-ROS efakwe ohlelweni lwakho. Ungathola imiyalo enemininingwane kuwebhusayithi esemthethweni ye-ROS. Khumbula ukuthi izikhathi eziningi isibuyekezo singadinga ukufakwa kwezinto ezincikile ezintsha, ngakho-ke kubalulekile ukulandela imiyalelo ethile yesistimu yakho yokusebenza.

2. Uma usufake inguqulo yakamuva ye-ROS, ungasebenzisa ithuluzi le-roslaunch ukuze uguqule amafayela e-ROS abe yinguqulo ehambisanayo oyifunayo. Ukuze wenze lokhu, mane usebenzise umyalo olandelayo kutheminali:

roslaunch --ros-version VERSION archivo_ros.launch

Shintsha INGUQULO ngenguqulo ye-ROS ofuna ukuguqula amafayela abe yi- ros_file.launch ngegama lefayela le-ROS ofuna ukuliguqula. Leli thuluzi lizoba nesibopho sokubuyekeza ifayela enguqulweni ekhethiwe ehambisanayo.

10. Amathiphu nemikhuba engcono kakhulu yokuvula nokusebenza ngamafayela e-ROS ngendlela efanele

Ukuvula nokusebenza indlela ephumelelayo Ngamafayela e-ROS, kubalulekile ukulandela amathiphu athile nemikhuba engcono kakhulu. Lezi zincomo zizokusiza ukuthi ukhulise ukukhiqiza kwakho futhi ugweme amaphutha angaba khona lapho ukhohlisa idatha ye-ROS. Ngezansi eminye imihlahlandlela namathuluzi ongawasebenzisa:

Isifundo: Ngaphambi kokuthi uqale ukusebenza ngamafayela e-ROS, kuhle ukuthi ulandele isifundo esinemininingwane esifundisa izinto eziyisisekelo zesakhiwo sedatha kanye nokusebenza okuvamile. Lokhu kuzokuvumela ukuthi ujwayelane nemiyalo namathuluzi adingekayo ukuze ulawule amafayela ngendlela efanele.

Izinhlobo zamafayela: Ku-ROS, kunezinhlobo ezahlukene zamafayela, njengamafayela ezikhwama kanye namafayela okuqalisa. Kubalulekile ukuqonda umsebenzi nefomethi yohlobo ngalunye lwefayela, njengoba lokhu kuzonquma ukuhamba komsebenzi wakho kanye nemiyalo okufanele uyisebenzise. Qiniseka ukuthi usebenzisa isandiso sefayela esifanele lapho ulondoloza futhi uvula amafayela.

Amathuluzi nezinsiza: Kunamathuluzi nezinsiza ezimbalwa ezingenza umsebenzi wakho ngamafayela e-ROS ube lula. Elinye lamathuluzi awusizo kakhulu roscd, okuvumela ukuthi uzulazule kalula kusakhiwo semibhalo ye-ROS. Ungasebenzisa futhi i-rostopic ukushicilela nokubhalisa ezihlokweni ezithile, kanye ukuqaliswa kwe-ros ukusebenzisa amafayela wokumisa. Ngaphezu kwalokho, kukhona izinsiza ezifana i-rosbag okuvumela ukuthi urekhode futhi udlale amafayela esikhwama.

11. Sebenzisa amacala kanye nezicelo zangempela zamafayela e-ROS embonini yamarobhothi

Amafayela e-ROS (I-Robot Operating System) asephenduke ithuluzi elibalulekile embonini yamarobhothi ngenxa yokuguquguquka kwawo kanye nekhono lokwenza kube lula ukuxhumana phakathi kwezingxenye ezihlukene zohlelo lwamarobhothi. Kulesi sigaba, sizohlola ezinye izimo zokusetshenziswa kwangempela kanye nokusetshenziswa kwamafayela e-ROS embonini.

1. Amasistimu wokuzulazula azimele: Amafayela e-ROS asetshenziswa kabanzi ezinhlelweni zokuzulazula zamarobhothi ezizimele, okuvumela ukuhlanganiswa kwezinzwa, ukuhlela umzila nokulawula ukunyakaza. Ngokusebenzisa ama-algorithms okwenziwa kwasendaweni kanye nokwenza imephu ngesikhathi esisodwa (SLAM), amafayela e-ROS angasetshenziswa ukudala amamephu anembile endawo futhi avumele amarobhothi ukuthi azihambela ngokuzimele ezindaweni ezihlukene.

2. I-teleoperation ekude: Ezimeni lapho ukufinyelela ngokomzimba endaweni kunzima noma kuyingozi, amafayela e-ROS angasetshenziswa ukuze kunikwe amandla ukusebenza kwerimothi kwamarobhothi. Amafayela e-ROS avumela ukudluliswa kwedatha yesikhathi sangempela phakathi kwerobhothi nomsebenzisi, okuvumela ukunyakaza nezenzo zerobhothi ukuthi zilawulwe kude.

3. Ukusebenzisana kwamarobhothi: Amafayela e-ROS aphinde asetshenziswe ezinhlelweni zokubambisana ze-robotic, lapho amarobhothi amaningana asebenza ndawonye ukuze afinyelele umgomo ofanayo. Ngokuxhumana ngamafayela e-ROS, amarobhothi angakwazi ukuxhumanisa izenzo zawo futhi abelane ngolwazi ukuze enze imisebenzi ngempumelelo nangokuphepha.

Kafushane, amafayela e-ROS ayithuluzi eliyisisekelo embonini yerobhothi, avumela ukudalwa kwezinhlelo zokuzulazula ezizimele, ukusebenzisana kwe-remote kanye nokusebenzisana kwerobhothi. Ukuguquguquka kwayo kanye namandla okuxhumana kusiza ukuthuthukiswa kwezinhlelo zokusebenza ezithuthukisiwe ezindaweni ezahlukene. Ngokukhula kwesidingo sezixazululo zerobhothi ezimbonini ezahlukahlukene, ukuqaliswa kwamafayela e-ROS kulindeleke ukuthi kuqhubeke nokukhula esikhathini esizayo.

12. Izitayela zesikhathi esizayo ekuvuleni nasekuphatheni amafayela e-ROS

Ngokuzayo, izitayela zokuvula kanye nokukhohlisa amafayela e-ROS zizonikeza izixazululo ezisebenza kahle neziguquguqukayo. kubasebenzisi. Enye yezindlela ezithembisa kakhulu ukwakhiwa kwamathuluzi esofthiwe akhethekile azokwenza lula inqubo yokuvula nokukhohlisa amafayela e-ROS. Lawa mathuluzi azohlinzeka ngesixhumi esibonakalayo esinembile nesinobungane kubasebenzisi, okubavumela ukuthi bafinyelele kalula futhi bahlele amafayela e-ROS.

Ngaphezu kwalokho, izitayela zesikhathi esizayo ekuvuleni nasekuphatheni amafayela e-ROS kulindeleke ukuthi zisebenzise ngokugcwele ubuchwepheshe obusafufusa obufana no. ukuhlakanipha okungekhona okwangempela nokufunda ngomshini. Lobu buchwepheshe buzovumela ukuzenzekelayo okukhulu ohlelweni lokuvula nokuphatha amafayela e-ROS, ukunciphisa umthwalo womsebenzi kubasebenzisi nokuthuthukisa ukunemba kwemiphumela.

Omunye umkhuba obalulekile wesikhathi esizayo ukuhlanganiswa kokuvula ifayela le-ROS nokusebenza kokukhohlisa kwamanye amathuluzi nezinhlelo zokusebenza. Lokhu kuzovumela abasebenzisi ukuthi benze imisebenzi ehlobene namafayela e-ROS ngaphandle kokushintsha amathuluzi, okuzokwenza ngcono ukusebenza kahle nokunethezeka emsebenzini wabo. Lokhu kuhlanganiswa kungafaka izici ezifana nokubonwa kwe-3D kwemilayezo ye-ROS, ukukhiqizwa kwekhodi okuzenzakalelayo, nokulingisa irobhothi ezindaweni ezibonakalayo.

Ngamafuphi, banikeza izixazululo ezisebenza kahle kakhulu, eziguquguqukayo nezisebenziseka kalula. Ngamathuluzi akhethekile, ubuchwepheshe obuvelayo, nokuhlanganiswa kwezinye izinhlelo zokusebenza, abasebenzisi bazokwazi ukufinyelela futhi bahlele amafayela e-ROS kalula nangokunembile. Lawa mathrendi athembisa ukuthuthukisa ukukhiqiza kanye nekhwalithi ekuthuthukisweni kwezinhlelo zokusebenza zerobhothi nezinhlelo ezisebenzisa i-ROS.

13. Izinsiza ezengeziwe zokufunda kabanzi mayelana nokuvula amafayela e-ROS

Kulabo abafisa ukuthuthukisa ulwazi lwabo lokuvula amafayela e-ROS, kunezinsiza ezengeziwe ezengeziwe ezingase zibe usizo kakhulu. Nazi ezinye izinketho zokufunda kabanzi ngalesi sihloko:

1. Izifundo eziku-inthanethi: Kunezifundo eziningi eziku-inthanethi ezinikeza imininingwane enemininingwane yokuvula amafayela e-ROS. Lezi zifundo ngokuvamile zihlanganisa izibonelo ezingokoqobo kanye nemihlahlandlela yesinyathelo nesinyathelo ukukusiza uqonde kangcono inqubo.
2. Izinkundla zokuxoxisana: Izinkundla zezingxoxo ezikhethekile ku-ROS zingaba umthombo omkhulu wolwazi. Lapha ungathola izimpendulo zemibuzo evame ukubuzwa, amathiphu namaqhinga kusuka kwabanye abasebenzisi abaye babhekana nezinselele ezifanayo zokuvula amafayela e-ROS.
3. Amathuluzi esofthiwe: Kunamathuluzi esoftware ahlukahlukene atholakalayo akwenza kube lula ukuvula nokukhohlisa amafayela e-ROS. Amanye alawa mathuluzi anikeza ukusebenza okuthuthukile, okufana nokubonwa kwe-3D, ukukusiza ukuthi uhlole kangcono futhi uqonde okuqukethwe kwamafayela e-ROS.

Ukuhlola lezi zinsiza ezengeziwe kuzokuvumela ukuthi uthole ulwazi olwengeziwe mayelana nokuvula amafayela e-ROS futhi kuzokusiza ukuthi ubhekane nezinselele ezihlobene nalo msebenzi ngokuphumelelayo. Khumbula ukuthi ukuzijwayeza nokuhlola kubalulekile ukuze uthuthukise amakhono akho kulo mkhakha.

14. Iziphetho nezincomo zokugcina zokuvula ifayela le-ROS ngempumelelo

Ukuphetha, ukuvula ifayela le-ROS ngempumelelo kudinga ukulandela izinyathelo ezibalulekile ezimbalwa. Okokuqala, kubalulekile ukuqinisekisa ukuthi unohlaka lwe-ROS olufakwe ohlelweni lokusebenza. Lokhu kungafezwa ngokulanda nokufaka iphakheji elihambisanayo kusayithi elisemthethweni le-ROS.

Uma i-ROS isifakiwe, isinyathelo esilandelayo siwukuqinisekisa ukuthi uyakwazi ukufinyelela ifayela le-ROS ofuna ukulivula. Lokhu kuhilela ukuthola uhla lwemibhalo noma ifolda lapho ifayela likhona nokuqinisekisa ukuthi unezimvume ezidingekayo zokulifinyelela.

Uma usufake uhlaka lwe-ROS futhi usukwazi ukufinyelela ifayela, ungaqhubeka nokulivula usebenzisa imiyalo ethile ye-ROS. Ezinye izibonelo zemiyalelo ewusizo zihlanganisa ukuqaliswa kwe-ros ukwethula ifayela lokucushwa kwe-ROS, i-rostopic ukubuka imilayezo ngesihloko esithile, kanye i-rosbag ukudlala noma ukurekhoda idatha yefayela lesikhwama.

Kafushane, ukuvula ifayela le-ROS kungaba umsebenzi obalulekile wochwepheshe abasebenza ngezinhlelo zamarobhothi. Ukuze ufinyelele ulwazi oluqukethwe kulawa mafayela futhi wenze ukuhlaziya nokulungisa, kuyadingeka ukwazi izindlela namathuluzi ahlukene atholakalayo. Kungakhathaliseki ukuthi kusetshenziswa imiyalo kutheminali, kusetshenziswa amathuluzi okubuka ngeso lengqondo, noma ukusebenzisa imibhalo yangokwezifiso, indlela ngayinye inikeza izinzuzo ezithile kuye ngezidingo zomsebenzisi. Kusukela ekuhlonzeni izinhlobo zamafayela e-ROS kuya ekukhetheni inketho efaneleke kakhulu yokuwavula, lesi sihloko sinikeza ukubuka konke kwezisekelo ezidingekayo ukuze uphathe lawa mafayela ngempumelelo endaweni yerobhothi. Ngokwazi kahle lezi zindlela, ochwepheshe bazokwazi ukusebenzisa ngokugcwele ulwazi oluqukethwe kumafayela e-ROS, ngaleyo ndlela bathuthukise ukuthuthukiswa nokuthunyelwa kwezinhlelo zamarobhothi.